U.S. patent application number 14/680266 was filed with the patent office on 2016-01-14 for electrically motorized wheel.
The applicant listed for this patent is SUPERPEDESTRIAN, INC.. Invention is credited to Assaf Biderman, John David Heinzmann, Jon Stevens.
Application Number | 20160009169 14/680266 |
Document ID | / |
Family ID | 54241350 |
Filed Date | 2016-01-14 |
United States Patent
Application |
20160009169 |
Kind Code |
A1 |
Biderman; Assaf ; et
al. |
January 14, 2016 |
ELECTRICALLY MOTORIZED WHEEL
Abstract
A system, method, and device for operations of an electrically
motorized vehicle. The vehicle can utilize an electrically
motorized wheel to convert a non-motorized wheeled vehicle to an
electrically motorized wheeled vehicle. The electrically motorized
wheeled vehicle includes a plurality of electrically motorized
wheels, each of the plurality of electrically motorized wheels in
communication with at least one other of the plurality of
electrically motorized wheels to coordinate operation of the
vehicle.
Inventors: |
Biderman; Assaf; (Boston,
MA) ; Stevens; Jon; (Manchester, NH) ;
Heinzmann; John David; (Manchester, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SUPERPEDESTRIAN, INC. |
Cambridge |
MA |
US |
|
|
Family ID: |
54241350 |
Appl. No.: |
14/680266 |
Filed: |
April 7, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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14678855 |
Apr 3, 2015 |
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14680266 |
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|
61975658 |
Apr 4, 2014 |
|
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62083851 |
Nov 24, 2014 |
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62092243 |
Dec 15, 2014 |
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Current U.S.
Class: |
701/22 ;
180/6.28; 180/65.51 |
Current CPC
Class: |
B60K 2007/0092 20130101;
B60L 2240/463 20130101; Y02T 90/14 20130101; B60L 3/0046 20130101;
B60L 2240/547 20130101; G07C 2009/00769 20130101; G08G 1/16
20130101; H04L 67/12 20130101; Y02T 90/16 20130101; A63B 24/0062
20130101; B60K 7/0007 20130101; B60L 7/12 20130101; B60L 2200/34
20130101; B62M 6/45 20130101; E05B 81/54 20130101; Y02T 10/72
20130101; A61B 5/11 20130101; B60L 58/13 20190201; G01C 21/3664
20130101; G08G 1/20 20130101; B60L 2200/36 20130101; G05D 1/0291
20130101; G07C 9/00309 20130101; G08G 1/13 20130101; B60L 2240/70
20130101; A63B 24/0084 20130101; B60L 15/2036 20130101; B60L
2200/44 20130101; G08G 1/202 20130101; A63B 24/0087 20130101; B60Q
9/00 20130101; H02P 29/20 20160201; G08G 1/0129 20130101; E05B
49/006 20130101; A63B 21/22 20130101; B60L 2240/421 20130101; B60L
2240/461 20130101; B60Q 5/005 20130101; B60R 16/02 20130101; Y02T
10/64 20130101; A61B 5/6893 20130101; B60L 2240/545 20130101; B60L
2240/622 20130101; B60L 2240/68 20130101; B60Y 2300/18 20130101;
G01C 21/36 20130101; G08G 1/052 20130101; H04W 4/60 20180201; B60C
5/005 20130101; B60L 2240/425 20130101; E05B 2047/0088 20130101;
G08G 1/123 20130101; A61G 5/048 20161101; B60Y 2300/1884 20130101;
G07C 5/0808 20130101; H04M 1/7253 20130101; G07C 5/006 20130101;
B60L 58/26 20190201; B62M 6/80 20130101; G05D 1/0285 20130101; Y02T
10/70 20130101; B60L 2240/423 20130101; B60W 2050/0014 20130101;
A61B 5/7282 20130101; G07C 5/008 20130101; B60R 25/20 20130101;
B60L 50/52 20190201; B60W 50/085 20130101; G07C 5/02 20130101; G07C
9/20 20200101; G08G 1/127 20130101; B60C 9/00 20130101; B60L 58/21
20190201; B60L 2220/50 20130101; B60L 2240/36 20130101; B60L
2260/44 20130101; A61B 5/04 20130101; B60L 53/00 20190201; B60R
25/04 20130101; B60W 2050/0089 20130101; B62B 5/004 20130101; B60L
3/12 20130101; B60L 7/00 20130101; G05D 1/021 20130101; A61B 5/0002
20130101; B60L 2200/12 20130101; G01C 21/3632 20130101; Y02T
10/7072 20130101; A63B 21/0058 20130101; A63B 22/0605 20130101;
B62B 3/00 20130101; B62M 25/08 20130101; H04W 4/80 20180201; B60L
15/2009 20130101; B60L 2200/40 20130101; B60L 2220/44 20130101;
B60L 2240/549 20130101; B61L 25/02 20130101; H02P 3/06 20130101;
A61B 5/7275 20130101; G06F 8/65 20130101; B60L 3/0061 20130101;
B60L 15/20 20130101; B60L 50/20 20190201; B60L 58/10 20190201; B60R
25/1003 20130101; B60K 7/00 20130101; B60L 2240/12 20130101; H02P
6/08 20130101; Y02P 90/60 20151101; A61G 5/04 20130101; G05D 1/0287
20130101 |
International
Class: |
B60K 7/00 20060101
B60K007/00; B62B 3/00 20060101 B62B003/00; B62B 5/00 20060101
B62B005/00; A61G 5/04 20060101 A61G005/04 |
Claims
1. An electrically motorized wheeled vehicle, comprising: a
plurality of electrically motorized wheels to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the electrically motorized wheel, each
of the plurality of electrically motorized wheels in communication
with at least one other of the plurality of electrically motorized
wheels to coordinate operation of the plurality of electrically
motorized wheels.
2. The electrically motorized wheeled vehicle as recited in claim
1, wherein at least one of the electrically motorized wheels
includes a ring handle.
3. The electrically motorized wheeled vehicle as recited in claim
2, wherein each wheel has a ring handle, and user input to the
respective ring handles in differing rotational directions results
in steering of the vehicle.
4. The electrically motorized wheeled vehicle as recited in claim
2, wherein each wheel has a ring handle, and user input to the
respective ring handles in differing rotational directions results
in pivoting of the vehicle.
5. The electrically motorized wheeled vehicle as recited in claim
2, wherein each wheel has a ring handle, and user input to at least
one of the respective ring handles results in braking of the
respective wheel.
6. The electrically motorized wheeled vehicle as recited in claim
2, wherein forward user input to ring handles of the plurality of
wheels results in forward movement of the vehicle.
7. The electrically motorized wheeled vehicle as recited in claim
2, wherein backward user input to the ring handles of the plurality
of wheels results in aft movement of the vehicle.
8. The electrically motorized wheeled vehicle as recited in claim
1, wherein the wheels are mounted to an undercarriage.
9. The electrically motorized wheeled vehicle as recited in claim
6, wherein the undercarriage is mounted to a pull handle.
10. The electrically motorized wheeled vehicle as recited in claim
1, wherein the wheels are mounted to a shopping cart.
11. The electrically motorized wheeled vehicle as recited in claim
1, wherein the wheels are mounted to a wagon.
12. The electrically motorized wheeled vehicle as recited in claim
1, wherein the wheels are mounted to a wheelchair.
13. A device of an electrically motorized wheel that is adapted to
convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device comprising: a first control system mounted to a first
device, the control system operable to continuously control the
first device in response to a user input, the control system
including a protocol for coordinating with a second control system
of a second device of a second electrically motorized wheel.
14. The device as recited in claim 13, wherein the user input to
the device also results in an output from said second device of
said second electrically motorized wheel.
15. The device as recited in claim 14, wherein the user input to
the first device and a second user input to the second device
results in an equivalent output from the respective electrically
motorized wheels.
16. The device as recited in claim 13, wherein the user input to
the first device and a second user input to the second device
results in a coordinated output.
17. A method for controlling operation of a plurality of devices of
respective electrically motorized wheels adapted to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the plurality of electrically motorized
wheels, the method comprising: receiving a user input at a first
device of a first electrically motorized wheel, the user input
operable to control an amount of assistance or resistance from the
first device of the first electrically motorized wheel and an
amount of assistance or resistance from a second device of a second
electrically motorized wheel daisy chained to the first device of
the first electrically motorized wheel.
18. The method as recited in claim 17, wherein the user input is a
rotational input.
19. The method as recited in claim 18, further comprising receiving
the rotational input via a ring handle of a wheelchair.
20. The method as recited in claim 17, wherein the user input to
the first device of the first electrically motorized wheel results
in a first output from the first device of the first electrically
motorized wheel and a second output from the second device of the
second electrically motorized wheel.
21. A method for controlling operation of a plurality of devices of
respective electrically motorized wheels adapted to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the plurality of electrically motorized
wheels, the method comprising: daisy chaining a plurality of
devices of a respective plurality of electrically motorized wheels
to coordinate operation of the vehicle.
22. The method as recited in claim 21, further comprising
communicating a user input through each of the plurality of
devices.
23. The method as recited in claim 21, further comprising
coordinating a user input through each of the plurality of
devices.
24. The method as recited in claim 21, further comprising
communicating a user input from at least one of the plurality of
devices to each of the plurality of devices.
25. The method as recited in claim 21, wherein daisy chaining
includes communicating between each of the plurality of
devices.
26. The method as recited in claim 22, wherein daisy chaining
includes wirelessly communicating between each of the plurality of
devices.
27. The method as recited in claim 22, wherein daisy chaining
includes communicating between each of the plurality of devices via
a cable.
28. The method as recited in claim 27, wherein the cable connects
to CAN interface on each of the each of the plurality of
devices.
29. The method as recited in claim 27, wherein the cable connects
to a charging port on each of the plurality of devices.
30. The method as recited in claim 21, wherein daisy chaining
includes wirelessly communicating from one of the plurality of
devices to the other of the plurality of devices.
31. The method as recited in claim 30, wherein the one of the
plurality of devices is in communicates with a mobile device.
32. The method as recited in claim 21, further comprising a control
system in communication with the plurality of devices.
Description
[0001] This application is a continuation of U.S. patent
application having Ser. No. 14/678,855 filed Apr. 3, 2015.
[0002] U.S. patent application Ser. No. 14/678,855 filed Apr. 3,
2015 claims priority to U.S. Provisional Patent Application having
Ser. No. 61/975,658 filed Apr. 4, 2014; U.S. Provisional Patent
Application Ser. No. 62/083,851 filed Nov. 24, 2014; and U.S.
Provisional Patent Application Ser. No. 62/092,243 filed Dec. 15,
2014.
[0003] Each of the above applications is hereby incorporated by
reference in its entirety.
BACKGROUND
[0004] The disclosure relates to electrically motorized wheels, and
more particularly to an electrically motorized wheel to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the wheel on the vehicle.
[0005] There are many wheeled vehicles driven or moved by human
power, such as bicycles, wheelchairs, wagons, trailers, carts,
rolling tables, push lawnmowers, wheelbarrows, etc. Current
electric conversion kits for vehicles such as bicycles generally
include a relatively large, bulky battery pack, a control system,
and an electric motor that are separately mounted on different
parts of the bicycle, such as the frame, the handlebars, and the
forks. As the components are separated, a wiring harness provides
electrical power from the battery pack to the electric motor and
operates as a conduit for signals from the control systems.
Installation of such systems may be complex and time consuming,
typically requiring a variety of tools and a multi-step
process.
SUMMARY
[0006] A method of analyzing a fleet of vehicles, each of the
vehicles including a device of an electrically motorized wheel for
converting the vehicle to an electrically motorized vehicle via
installation of the electrically motorized wheel, the method
according to one disclosed non-limiting embodiment of the present
disclosure can include receiving data from each device of the
respective plurality of electrically motorized wheels within a
fleet of vehicles; and utilizing the data to facilitate tracking at
least one vehicle within the fleet.
[0007] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of each vehicle within the fleet includes optimizing a route for
the at least one vehicle in the fleet.
[0008] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of at least one vehicle within the fleet includes optimizing a
schedule for the at least one vehicle in the fleet.
[0009] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of at least one vehicle within the fleet includes estimating a
delivery time for the at least one vehicle in the fleet.
[0010] A further embodiment of any of the foregoing embodiments of
the present disclosure may include 1, wherein to facilitate
operation of at least one vehicle within the fleet includes
optimizing a route for each vehicle in the fleet.
[0011] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of each vehicle within the fleet includes optimizing a schedule for
each vehicle in the fleet.
[0012] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of at least one vehicle within the fleet includes estimating a
delivery time for each vehicle in the fleet.
[0013] A further embodiment of any of the foregoing embodiments of
the present disclosure may include analyzing data from each device
of each of the plurality of electrically motorized wheels within
the fleet includes analyzing at least one of a user fitness level,
terrain covered during current excursion, elevation change, level
of assistance already provided, remaining battery life, current
location, and terrain.
[0014] A data analysis system for a fleet of vehicles, each of the
vehicles including a device of an electrically motorized wheel for
converting a vehicle to an electrically motorized vehicle via
installation of the electrically motorized wheel, the data
analysis, according to one disclosed non-limiting embodiment of the
present disclosure can include a server in communication with each
device of each of a plurality of electrically motorized wheels, the
server operable to analyze data from each of the devices of the
electrically motorized wheels.
[0015] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes at
least one of a user fitness level, terrain covered during current
excursion, elevation change, level of assistance already provided,
remaining battery life, current location, and terrain.
[0016] A fleet management system for monitoring a plurality of
devices each associated with one of a plurality of electrically
motorized wheels for converting vehicles to electrically motorized
vehicles via installation of the electrically motorized wheels, the
fleet management system according to one disclosed non-limiting
embodiment of the present disclosure can include a server in
communication with each device of each of the plurality of
electrically motorized wheels; an electronic data storage structure
for storing data communicated from each the plurality of devices;
and a fleet management module in communication with the server and
the electronic data storage structure.
[0017] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data communicated
from each of the plurality of devices includes at least operating
version of the electrically motorized wheels wherein the operating
version is utilized by the fleet management module to coordinate an
application on each of the plurality of devices.
[0018] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data communicated
from each of the plurality of devices includes at least one of a
user destination, a current location, and available battery life
which are utilized by the fleet management module to coordinate
route planning for the plurality of electrically motorized
wheels.
[0019] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data communicated
from each of the plurality of devices includes at least one of
wheel speed over time, accelerations, motor assistance and
resistance, routing, wheel sensor data, and temperature data which
are utilized by the fleet management module to perform a
meta-analysis of the provided data to optimize long term fleet
routing.
[0020] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to evaluate a user efficiency of each user
of each of the plurality of electrically motorized wheels.
[0021] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to evaluate operation of each of the
plurality of electrically motorized wheels.
[0022] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to track a location of each of the
plurality of electrically motorized wheels.
[0023] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to track a battery charge for each of the
plurality of electrically motorized wheels.
[0024] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module is operable to generate aggregated data from the plurality
of devices of the plurality of electrically motorized wheels.
[0025] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the aggregated data
provides a summary associated with the fleet.
[0026] A device of an electrically motorized wheel to convert a
non-motorized vehicle into a motorized vehicle by installation of
the electrically motorized wheel. The device may be configured with
control, motor, and energy storage components contained in an
aerodynamic hub shell assembly to avoid the heretofore requirements
of a separate wiring harness, separate battery pack, and complex
installation associated therewith. The device may include a variety
of sensing, processing, data collection, networking, and other
computing capabilities that facilitate service as an intelligent
platform for collecting, processing, and transmitting information
about the wheel, its environment, and its user to thereby permit
the electrically motorized wheel, its vehicle, its user, and third
parties to benefit from a wide range of operational modes, control
capabilities, applications, features, and such like.
[0027] A control system for a device of an electrically motorized
wheel for converting a non-motorized vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the system according to one disclosed non-limiting
embodiment of the present disclosure can include an application
module operable to execute a control algorithm that manages
operation of the device; and a boot loader module in communication
with the application module, the boot loader module operable to
update the application module in response to a validity of the
application module.
[0028] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the application module
and the boot loader module are in communication with a mobile
device.
[0029] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the communication with
the mobile device is wireless.
[0030] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the validity of the
application module is determined based on the version of the
application module currently installed.
[0031] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is in
communication with a remote application data server to determine
whether a version number of the application module is the most
recent version.
[0032] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device
prompts a user in response to the application module not being the
most recent version.
[0033] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user is not
prompted when at least one of the following conditions is true:
battery charge on the mobile device is below a predetermined level,
signal strength below a predetermined level, lack of a Wi-Fi
connection, device state of charge is below a certain level, and
device is not connected to a charger.
[0034] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device
downloads the most recent version of the application in response to
a positive user response.
[0035] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device will
command the boot loader module to execute in response to a
successful download of the most recent version of the
application.
[0036] A method of updating a device of an electrically motorized
wheel for converting a non-motorized vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include updating an
application module in response to an indication of the state of
validity of the application module in response to start-up of the
electrically motorized vehicle, the application module operable to
execute a control algorithm that manages operation of the device of
the electrically motorized vehicle.
[0037] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein updating the
application module in response to the validity of the application
module is initiated by a mobile device.
[0038] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein updating the
application module in response to the validity of the application
module is initiated by a user command.
[0039] A further embodiment of any of the foregoing embodiments of
the present disclosure may include updating via a mobile
device.
[0040] A further embodiment of any of the foregoing embodiments of
the present disclosure may include providing communication between
the mobile device and a remote server to determine whether a
version number of the application module is the most recent
version.
[0041] A further embodiment of any of the foregoing embodiments of
the present disclosure may include prompting a user via the mobile
device in response to the application module not being the most
recent version
[0042] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein updating the
application module includes encrypting the communication
thereof.
[0043] A method for remote diagnosis of a device of an electrically
motorized wheel for converting a non-motorized vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include receiving
operational data from a sensor system of the device; and analyzing
the operational data to determine if a diagnostic event has
occurred.
[0044] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
acceleration data indicative of an impact.
[0045] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
temperature data associated with operation of an electric motor of
the electrically motorized wheel.
[0046] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
temperature data associated with operation of a battery system of
the electrically motorized wheel.
[0047] A further embodiment of any of the foregoing embodiments of
the present disclosure may include receiving the data via a mobile
device associated with the electrically motorized wheel.
[0048] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, communicating the data via the
mobile device at a predetermined frequency interval.
[0049] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
software and hardware version numbers for the electrically
motorized wheel.
[0050] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
hazard indicators for the electrically motorized wheel.
[0051] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
system response data.
[0052] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
system fault data.
[0053] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
sensor data that is used for controlling the vehicle.
[0054] A method for remote diagnosis of a device for an
electrically motorized wheel for converting a non-motorized vehicle
to an electrically motorized vehicle via installation of the
electrically motorized wheel, the method according to one disclosed
non-limiting embodiment of the present disclosure can include
receiving operational data from a sensor system of the device; and
analyzing the operational data to identify an event associated with
operation of the device.
[0055] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data facilitates
servicing of the device.
[0056] A further embodiment of any of the foregoing embodiments of
the present disclosure may include receiving the data via a mobile
device associated with the device.
[0057] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, communicating the data via the
mobile device in response to a service call.
[0058] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
software and hardware version numbers for the device.
[0059] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
hazard indicators for the electrically motorized wheel.
[0060] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
system response data.
[0061] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
system fault data.
[0062] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes
sensor data that is used for controlling the vehicle.
[0063] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein analyzing the
operational data to identify the event associated with operation of
the electrically motorized wheel includes analyzing the operational
data to determine if the event voids a warranty of the electrically
motorized wheel.
[0064] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein analyzing the
operational data to determine if the diagnostic event voids a
warranty.
[0065] A method of controlling a device of an electrically
motorized wheel for converting a non-motorized vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include detecting a fault
condition in the device of the electrically motorized wheel; and
controlling operation of at least one parameter of the device of
the electrically motorized wheel in response to the fault.
[0066] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fault includes a
discharge current above a predetermined value.
[0067] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fault includes a
regeneration current above a predetermined value.
[0068] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fault includes a
voltage above a predetermined value.
[0069] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fault includes a
voltage below a predetermined value from motoring.
[0070] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fault includes a
temperature above predetermined value.
[0071] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein detecting the fault
includes running a battery current control algorithm and a battery
voltage control algorithm
[0072] A further embodiment of any of the foregoing embodiments of
the present disclosure may include determining which of a current
control gain and a voltage control gain causes a more limiting
condition.
[0073] A further embodiment of any of the foregoing embodiments of
the present disclosure may include determining if the current
control gain is less than a voltage control gain, determining an
attenuation gain that is equal to the current control gain.
[0074] A further embodiment of any of the foregoing embodiments of
the present disclosure may include determining if the current
control gain is not less than a voltage control gain, determining
an attenuation gain that is equal to the voltage control gain.
[0075] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the device is an
electric motor.
[0076] A system, according to another disclosed non-limiting
embodiment of the present disclosure can include a device of an
electrically motorized wheel, the electrically motorized wheel for
converting a non-motorized vehicle to an electrically motorized
vehicle via installation of the electrically motorized wheel; a
server for executing an application relating to the electrically
motorized wheel; and a mobile device in data communication with the
device of the electrically motorized wheel and the server for
facilitating communication between the device of the electrically
motorized vehicle and the server.
[0077] A further embodiment of any of the foregoing embodiments of
the present disclosure may include a sensor system and a controller
mounted to the device, the controller operable to continuously
control an electric motor of the device in response to a user input
sensed by the sensor system.
[0078] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is a
rotational input.
[0079] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is
induced by pedaling.
[0080] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controller controls
the device in response to data from the sensor system and from the
mobile device.
[0081] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device
collects sensor data collected by the electrically motorized wheel
and delivered to the mobile device by the data communication
facility of the device of the electrically motorized wheel.
[0082] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device
collects sensor data associated with an environment external to the
electrically motorized wheel.
[0083] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device
collects data from at least one peripheral associated with the
electrically motorized wheel.
[0084] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server is operable
to receive streaming data from the mobile device associated with
the device of the electrically motorized wheel.
[0085] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server is operable
to aggregate data from a plurality of devices of a respective
plurality of electrically motorized wheels.
[0086] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server is operable
to analyze routes for a user of the mobile device.
[0087] A further embodiment of any of the foregoing embodiments of
the present disclosure may include a sensor system mounted to the
electrically motorized wheel.
[0088] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor system
includes a torque sensor that senses power output from a user.
[0089] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensed power output
from a user is associated with a route.
[0090] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein a location of the route
is tagged via a GPS capability of the mobile device.
[0091] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensed power output
and the route location are communicated to the server via the
mobile device.
[0092] A method of guiding a specific user of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to another disclosed non-limiting
embodiment of the present disclosure can include receiving data
from each of a plurality of electrically motorized wheels;
aggregating the data from each of the plurality of electrically
motorized wheels; and analyzing the aggregated data to provide the
specific user with guidance associated with operation of the
electrically motorized wheel of that vehicle.
[0093] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein guidance associated
with operation of the electrically motorized wheel for the specific
user is associated with a time efficient route.
[0094] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein guidance associated
with operation of the electrically motorized wheel for the specific
user includes suggesting a mode for a route.
[0095] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein guidance associated
with operation of the electrically motorized wheel for the specific
user includes profiling the user in comparison to one or more other
users.
[0096] A system according to another disclosed non-limiting
embodiment of the present disclosure can include a server adapted
to operate in data communication with a device in each of a
plurality of electrically motorized wheels, each of the plurality
of electrically motorized wheels for converting a non-motorized
vehicle to an electrically motorized vehicle via installation of
the electrically motorized wheel; and a data aggregation module in
communication with the server operable to take a data set from each
of the devices and aggregate the data to transform the data set
into an aggregated data set.
[0097] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from at least
one of the plurality of electrically motorized wheels is
communicated wirelessly to the server.
[0098] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data is
communicated via a wireless telecommunications system in each of
the plurality of electrically motorized wheels.
[0099] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data is
communicated via a wireless telecommunications system in each of
the plurality of electrically motorized wheels to a mobile device
associated with each of the plurality of electrically motorized
wheels that operates as a data communications gateway to the
server.
[0100] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from at least
one of the plurality of electrically motorized wheels is stored on
board the electrically motorized wheel.
[0101] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from each of
the electrically motorized wheels is transferred from at least one
of the plurality of electrically motorized wheels to a local
computer via a removable memory media.
[0102] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from each of
the multiple of electrically motorized wheels are aggregated by the
server to provide a spatial and temporal indication of at least one
parameter.
[0103] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the spatial indication
includes a location.
[0104] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes data associated with an environment through which at least
one of the multiple of electrically motorized wheels passes.
[0105] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes at least one of temperature, humidity, elevation,
atmospheric data and signal strength.
[0106] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes data associated with at least one of the multiple of
electrically motorized wheels.
[0107] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes at least one of vehicle speed, battery charge, motor
assistance and torque.
[0108] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from each of
the multiple of electrically motorized wheels are aggregated by the
server to generate a model constructed from multi-variant data.
[0109] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the model is operable
to facilitate prediction of future environmental conditions.
[0110] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the model is operable
to optimize future wheel operation.
[0111] A system according to another disclosed non-limiting
embodiment of the present disclosure can include a sensor system
mounted to an electrically motorized vehicle; a communications
module in communication with at least one of the wheel and the
sensor system, the communication module operable to communicate
data to a server remote from the electrically motorized wheel; and
a data integration module in data communication with the server to
integrate the data from the sensor system with data from a data
source external to the electrically motorized wheel.
[0112] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server correlates
the data from the sensor system with at least one data structure of
at least one database.
[0113] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data source
external to the electrically motorized wheel includes data from a
traffic data system.
[0114] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the traffic data system
includes a traffic camera.
[0115] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein data source external to
the electrically motorized wheel includes map data.
[0116] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the map data includes
aerial map data.
[0117] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the map data includes
land use map data.
[0118] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the map data includes
mobile mapping data.
[0119] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data source
external to the electrically motorized wheel includes data from a
road traffic sensor.
[0120] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from at least
one of the sensor system and the data source external to the
electrically motorized wheel includes image data.
[0121] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data at least one
of the sensor system and the data source external to the
electrically motorized wheel includes weather data.
[0122] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data at least one
of the sensor system and the data source external to the
electrically motorized wheel includes temporal data.
[0123] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data at least one
of the sensor system and the data source external to the
electrically motorized wheel includes spatial data.
[0124] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from the
sensor system includes torque data of the electrically motorized
wheel.
[0125] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data at least one
of the sensor system and the data source external to the
electrically motorized wheel includes speed data of the
electrically motorized wheel.
[0126] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from the
sensor system includes "steadiness" of the electrically motorized
wheel.
[0127] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from at least
one of the sensor system and the data source external to the
electrically motorized wheel includes steadiness of the
vehicle.
[0128] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data at least one
of the sensor system and the data source external to the
electrically motorized wheel includes terrain travelled by the
electrically motorized wheel.
[0129] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from at least
one of the sensor system and the data source external to the
electrically motorized wheel includes motorized assistance provided
by the electrically motorized wheel.
[0130] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from at least
one of the sensor system and the data source external to the
electrically motorized wheel includes available battery power of
the electrically motorized wheel.
[0131] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from at least
one of the sensor system and the data source external to the
electrically motorized wheel includes motor temperature of the
electrically motorized wheel.
[0132] A system according to another disclosed non-limiting
embodiment of the present disclosure can include a server in
communication with each of a plurality of electrically motorized
wheels and a third party data source, the server operable to
integrate the data from each of the electrically motorized wheels
and the data from the third party data source, wherein each of the
electrically motorized wheels operable to convert a non-motorized
wheeled vehicle to an electrically motorized wheeled vehicle via
installation of the electrically motorized wheel.
[0133] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from the third
party data source includes data from a traffic camera.
[0134] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from the third
party data source includes data from a road sensor.
[0135] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data from the third
party data source includes data from an aerial mapping data
source.
[0136] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data
provides a spatial and temporal indication of various
parameters.
[0137] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the spatial indication
includes a location.
[0138] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes data associated with an environment through which at least
one of the multiple of electrically motorized wheels passes.
[0139] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes at least one of temperature, humidity, elevation,
atmospheric data and signal strength.
[0140] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes data associated with at least one of the plurality of
electrically motorized wheels.
[0141] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes at least one of vehicle speed, battery charge, motor
assistance and torque.
[0142] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data is
utilized to generate a model.
[0143] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the model is operable
to facilitate prediction of future conditions.
[0144] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the model is operable
to facilitate at least one of bike lane placement, urban planning,
cell tower placement, pollution reduction initiatives.
[0145] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the model is operable
to facilitate analysis of real time conditions.
[0146] A system according to another disclosed non-limiting
embodiment of the present disclosure can include a server in
communication with each of a plurality of electrically motorized
wheels, the server operable to integrate movement data from each of
the electrically motorized wheels, wherein each of the electrically
motorized wheels operable to convert a non-motorized wheeled
vehicle to an electrically motorized wheeled vehicle via
installation of the electrically motorized wheel.
[0147] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server is operable
to integrate the movement data to facilitate public health
analysis.
[0148] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server is operable
to integrate the movement data to facilitate bike path location
determinations.
[0149] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server is operable
to integrate the movement data to facilitate fleet management.
[0150] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the server is operable
to integrate the movement data to facilitate traffic analysis.
[0151] A method of analyzing a fleet of vehicles, each of the
vehicles including a device of an electrically motorized wheel for
converting the vehicle to an electrically motorized vehicle via
installation of the electrically motorized wheel, the method
according to one disclosed non-limiting embodiment of the present
disclosure can include receiving data from each device of the
respective plurality of electrically motorized wheels within a
fleet of vehicles; and utilizing the data to facilitate tracking at
least one vehicle within the fleet.
[0152] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of each vehicle within the fleet includes optimizing a route for
the at least one vehicle in the fleet.
[0153] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of at least one vehicle within the fleet includes optimizing a
schedule for the at least one vehicle in the fleet.
[0154] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of at least one vehicle within the fleet includes estimating a
delivery time for the at least one vehicle in the fleet.
[0155] A further embodiment of any of the foregoing embodiments of
the present disclosure may include 1, wherein to facilitate
operation of at least one vehicle within the fleet includes
optimizing a route for each vehicle in the fleet.
[0156] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of each vehicle within the fleet includes optimizing a schedule for
each vehicle in the fleet.
[0157] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to facilitate operation
of at least one vehicle within the fleet includes estimating a
delivery time for each vehicle in the fleet.
[0158] A further embodiment of any of the foregoing embodiments of
the present disclosure may include analyzing data from each device
of each of the plurality of electrically motorized wheels within
the fleet includes analyzing at least one of a user fitness level,
terrain covered during current excursion, elevation change, level
of assistance already provided, remaining battery life, current
location, and terrain.
[0159] A data analysis system for a fleet of vehicles, each of the
vehicles including a device of an electrically motorized wheel for
converting a vehicle to an electrically motorized vehicle via
installation of the electrically motorized wheel, the data
analysis, according to one disclosed non-limiting embodiment of the
present disclosure can include a server in communication with each
device of each of a plurality of electrically motorized wheels, the
server operable to analyze data from each of the devices of the
electrically motorized wheels.
[0160] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data includes at
least one of a user fitness level, terrain covered during current
excursion, elevation change, level of assistance already provided,
remaining battery life, current location, and terrain.
[0161] A fleet management system for monitoring a plurality of
devices each associated with one of a plurality of electrically
motorized wheels for converting vehicles to electrically motorized
vehicles via installation of the electrically motorized wheels, the
fleet management system according to one disclosed non-limiting
embodiment of the present disclosure can include a server in
communication with each device of each of the plurality of
electrically motorized wheels; an electronic data storage structure
for storing data communicated from each the plurality of devices;
and a fleet management module in communication with the server and
the electronic data storage structure.
[0162] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data communicated
from each of the plurality of devices includes at least operating
version of the electrically motorized wheels wherein the operating
version is utilized by the fleet management module to coordinate an
application on each of the plurality of devices.
[0163] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data communicated
from each of the plurality of devices includes at least one of a
user destination, a current location, and available battery life
which are utilized by the fleet management module to coordinate
route planning for the plurality of electrically motorized
wheels.
[0164] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data communicated
from each of the plurality of devices includes at least one of
wheel speed over time, accelerations, motor assistance and
resistance, routing, wheel sensor data, and temperature data which
are utilized by the fleet management module to perform a
meta-analysis of the provided data to optimize long term fleet
routing.
[0165] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to evaluate a user efficiency of each user
of each of the plurality of electrically motorized wheels.
[0166] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to evaluate operation of each of the
plurality of electrically motorized wheels.
[0167] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to track a location of each of the
plurality of electrically motorized wheels.
[0168] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module utilizes the data to track a battery charge for each of the
plurality of electrically motorized wheels.
[0169] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the fleet management
module is operable to generate aggregated data from the plurality
of devices of the plurality of electrically motorized wheels.
[0170] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the aggregated data
provides a summary associated with the fleet.
[0171] A method of profiling a user of a device for an electrically
motorized wheel, the electrically motorized wheel for converting a
non-motorized vehicle to an electrically motorized vehicle via
installation of the electrically motorized wheel, the method
according to another disclosed non-limiting embodiment of the
present disclosure can include receiving data from a sensor system
of the device; and creating a profile of a user operating the
vehicle from the data.
[0172] A further embodiment of any of the foregoing embodiments of
the present disclosure may include identifying trends in the
profile of the user over time.
[0173] A further embodiment of any of the foregoing embodiments of
the present disclosure may include detecting changes in mobility
patterns of the user from the profile.
[0174] A further embodiment of any of the foregoing embodiments of
the present disclosure may include detecting long-term, slowly
developing diseases from the profile.
[0175] A further embodiment of any of the foregoing embodiments of
the present disclosure may include communicating the data into an
electronic medical record (EMR) of the user.
[0176] A further embodiment of any of the foregoing embodiments of
the present disclosure may include aggregating the user data with
data from a plurality of other users of electrically motorized
wheels to provide data sets for public health analysis.
[0177] A device of an electrically motorized wheel to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the device, the device, according to
another disclosed non-limiting embodiment of the present disclosure
can include a control system mounted to the device, the control
system operable to continuously control the device in response to a
user input; and a sensor system mounted to the device, the sensor
system operable to sense data that may be used to profile a user
operating the vehicle.
[0178] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor system is
operable to sense a state of the user.
[0179] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor system is
operable to monitor a user's physical capabilities over time to
facilitate identification of trends.
[0180] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor system is
operable to sense mobility patterns of the user.
[0181] A system, according to another disclosed non-limiting
embodiment of the present disclosure can include a server adapted
to operate in data communication with a plurality of electrically
motorized wheels, each of the plurality of electrically motorized
wheels being of a type adapted for converting a non-motorized
vehicle to an electrically motorized vehicle via installation of
the electrically motorized wheel; and a data aggregation module in
communication with the server operable to take a data set from each
of the electrically motorized wheels and aggregate the data set to
transform the data sets into an aggregated data set to generate a
recommended setting to a user of one of the plurality of
electrically motorized wheels based on the aggregated data set.
[0182] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the recommended setting
includes an operational profile.
[0183] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the recommended setting
includes a route.
[0184] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the recommended setting
is based at least in part on demographics.
[0185] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the recommended setting
is based at least in part on fitness.
[0186] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the recommended setting
is based at least in part on a similarity to one or more of a user
of the other of the plurality of electrically motorized wheels.
[0187] A method of controlling operation of an electrically
motorized wheel for converting a non-motorized vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the method according to another disclosed
non-limiting embodiment of the present disclosure can include
receiving a recommended setting for the electrically motorized
wheel from aggregated data collected from a plurality of
electrically motorized wheels.
[0188] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the recommended setting
is received in a control system of the electrically motorized
wheel.
[0189] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the recommended setting
is received at a mobile device in communication with the
electrically motorized wheel.
[0190] A system, according to one disclosed non-limiting embodiment
of the present disclosure can include a server in communication
with a device of each of a plurality of electrically motorized
wheels, each of the electrically motorized wheels operable to
convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the electrically
motorized wheel, the server operable to track a position of each of
the electrically motorized wheels and communicate the position
thereof to a transportation network.
[0191] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the transportation
network is accessible by a remote user.
[0192] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remote user is a
car.
[0193] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remote user is one
of the plurality of electrically motorized wheels.
[0194] A system according to one disclosed non-limiting embodiment
of the present disclosure can include a server in communication
with each of a device of each of a plurality of electrically
motorized wheels, each of the plurality of electrically motorized
wheels operable to convert a non-motorized wheeled vehicle to an
electrically motorized wheeled vehicle via installation of the
electrically motorized wheel, the server operable to integrate the
data from each of the devices; and a display module in
communication with the server to overlay the integrated data on a
map to provide an overlaid map.
[0195] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map is at
least one of a street pattern, a land use map, a topographical map,
a population density map, and an open space map.
[0196] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map is
accessible on a mobile device.
[0197] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map
provides an overview of environmental conditions.
[0198] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map
provides an overview of environmental conditions in real time.
[0199] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map
provides historical data of past environmental conditions.
[0200] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map
provides a prediction of future environmental conditions.
[0201] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map
provides an overview of environmental conditions, the environmental
conditions including at least one of a temperature, a humidity, an
air quality metric, a wind speed and a wind direction.
[0202] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the overlaid map
provides an overview of environmental conditions, the environmental
conditions including a temperature.
[0203] A further embodiment of any of the foregoing embodiments of
the present disclosure may include 5, wherein the overlaid map
provides an overview of environmental conditions, the environmental
conditions including a traffic pattern.
[0204] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data
provides a spatial and temporal indication of various
parameters.
[0205] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the spatial indication
includes a location.
[0206] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes data associated with an environment through which at least
one of the multiple of electrically motorized wheels passes.
[0207] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes at least one of temperature, humidity, elevation,
atmospheric data and signal strength.
[0208] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes data associated with at least one of the multiple of
electrically motorized wheels.
[0209] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the temporal indication
includes at least one of vehicle speed, battery charge, motor
assistance and torque.
[0210] A method to integrate data, according to one disclosed
non-limiting embodiment of the present disclosure can include
receiving data from a device of each of a plurality of electrically
motorized wheels, each of the multiple of electrically motorized
wheels operable to convert a non-motorized wheeled vehicle to an
electrically motorized wheeled vehicle via installation of the
electrically motorized wheel; and integrating the data from each of
the devices via a server, the integrated data being adapted to be
overlaid on a map.
[0211] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data is integrated
with a location on the map based on spatial data associated with
each data point.
[0212] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data
overlaid on the map provides an overview of environmental
conditions.
[0213] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data
overlaid on the map provides an overview of environmental
conditions in real time.
[0214] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data
overlaid on the map provides historical data of past environmental
conditions.
[0215] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data
overlaid on the map provides a prediction of future environmental
conditions.
[0216] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the integrated data
overlaid on the map provides an overview of environmental
conditions, the environmental conditions include a traffic
pattern.
[0217] A method for controlling operation over a prescribed route
of a vehicle with an electrically motorized wheel, the electrically
motorized wheel for converting the vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include adjusting a
control parameter for an electrically motorized wheel operating
along a particular route such that operation of the electrically
motorized wheel is managed with respect to the particular
route.
[0218] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the adjusting the
control parameter is performed in response to a mode selected by a
user.
[0219] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mode includes
maintaining a predefined battery reserve with respect to the
particular route.
[0220] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mode includes
maintaining a user selected battery reserve.
[0221] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mode accommodates
traffic data associated with the particular route.
[0222] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mode accommodates
user capability data associated with the particular route.
[0223] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mode accommodates
user preference data associated with the particular route.
[0224] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mode accommodates
road data associated with the particular route.
[0225] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the adjusting the
control parameter includes adjusting a motor assistance and a motor
resistance along the particular route.
[0226] A further embodiment of any of the foregoing embodiments of
the present disclosure may include storing a data set from each of
a plurality of electrically motorized wheels in an electronic data
structure; analyzing a subset of the plurality of data sets, the
subset associated with a particular route; and communication data
associated with the subset to the electrically motorized wheel
traversing the particular route.
[0227] A method for controlling battery usage over a prescribed
route of a vehicle with an electrically motorized wheel, the
electrically motorized wheel for converting the vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include adjusting a
control parameter for an electrically motorized wheel operating
along the particular route such that a battery life parameter is
managed over the particular route.
[0228] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein adjusting the control
parameter include selection of at least one mode.
[0229] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the battery life
parameter is managed to maintain a predefined battery reserve with
respect to the particular route.
[0230] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein adjusting the control
parameter includes adjusting an assistance from the electrically
motorized wheel along the particular route such that the battery
life parameter is managed to complete the particular route.
[0231] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein adjusting the control
parameter includes adjusting a motor assistance and a motor
resistance.
[0232] An electrically motorized wheeled vehicle according to one
disclosed non-limiting embodiment of the present disclosure can
include a plurality of electrically motorized wheels to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the electrically motorized wheel, each
of the plurality of electrically motorized wheels in communication
with at least one other of the plurality of electrically motorized
wheels to coordinate operation of the plurality of electrically
motorized wheels to coordinate operation of the vehicle.
[0233] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein at least one of the
electrically motorized wheels includes a ring handle.
[0234] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each wheel has a ring
handle, and user input to the respective ring handles in differing
rotational directions results in steering of the vehicle.
[0235] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each wheel has a ring
handle, and user input to the respective ring handles in differing
rotational directions results in pivoting of the vehicle.
[0236] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each wheel has a ring
handle, and user input to at least one of the respective ring
handles results in braking of the respective wheel.
[0237] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein forward user input to
ring handles of the plurality of wheels results in forward movement
of the vehicle.
[0238] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein backward user input to
the ring handles of the plurality of wheels results in aft movement
of the vehicle.
[0239] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wheels are mounted
to an undercarriage.
[0240] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the undercarriage is
mounted to a pull handle.
[0241] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wheels are mounted
to a shopping cart.
[0242] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wheels are mounted
to a wagon.
[0243] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wheels are mounted
to a wheelchair.
[0244] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include a first control system mounted to a
first device, the control system operable to continuously control
the first device in response to a user input, the control system
including a protocol for coordinating with a second control system
of a second device of a second electrically motorized wheel.
[0245] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input to the
device also results in an output from the second device of the
second electrically motorized wheel.
[0246] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input to the
first device and a second user input to the second device results
in an equivalent output from the respective electrically motorized
wheels.
[0247] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input to the
first device and a second user input to the second device results
in a coordinated output.
[0248] A method for controlling operation of a plurality of devices
of respective electrically motorized wheels adapted to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the plurality of electrically motorized
wheels, the method according to one disclosed non-limiting
embodiment of the present disclosure can include receiving a user
input at a first device of a first electrically motorized wheel,
the user input operable to control an amount of assistance or
resistance from the first device of the first electrically
motorized wheel and an amount of assistance or resistance from a
second device of a second electrically motorized wheel daisy
chained to the first device of the first electrically motorized
wheel.
[0249] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is a
rotational input.
[0250] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, further comprising receiving
the rotational input via a ring handle of a wheelchair.
[0251] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input to the
first device of the first electrically motorized wheel results in a
first output from the first device of the first electrically
motorized wheel and a second output from the second device of the
second electrically motorized wheel.
[0252] A method for controlling operation of a plurality of devices
of respective electrically motorized wheels adapted to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the plurality of electrically motorized
wheels, the method according to one disclosed non-limiting
embodiment of the present disclosure can include daisy chaining a
plurality of devices of a respective plurality of electrically
motorized wheels to coordinate operation of the vehicle.
[0253] A further embodiment of any of the foregoing embodiments of
the present disclosure may include communicating a user input
through each of the plurality of devices.
[0254] A further embodiment of any of the foregoing embodiments of
the present disclosure may include coordinating a user input
through each of the plurality of devices.
[0255] A further embodiment of any of the foregoing embodiments of
the present disclosure may include communicating a user input from
at least one of the plurality of devices to each of the plurality
of devices.
[0256] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein daisy chaining includes
communicating between each of the plurality of devices.
[0257] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein daisy chaining includes
wirelessly communicating between each of the plurality of
devices.
[0258] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein daisy chaining includes
communicating between each of the plurality of devices via a
cable.
[0259] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the cable connects to
CAN interface on each of the each of the plurality of devices.
[0260] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the cable connects to a
charging port on each of the plurality of devices.
[0261] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein daisy chaining includes
wirelessly communicating from one of the plurality of devices to
the other of the plurality of devices.
[0262] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the one of the
plurality of devices is in communicates with a mobile device.
[0263] A further embodiment of any of the foregoing embodiments of
the present disclosure may include a control system in
communication with the plurality of devices.
[0264] A method for controlling a device of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include calculating a set
of parameters associated with a fitness level of the user for use
in determining an amount of assistance a user will receive from the
electrically motorized wheel.
[0265] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is
performed remotely.
[0266] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is
performed via a remote device.
[0267] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
an amount of calories to be burned.
[0268] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a maximum not to exceed torque.
[0269] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a heart rate.
[0270] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a time period.
[0271] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a destination.
[0272] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a route.
[0273] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the route simulates a
particular bicycle race.
[0274] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a desired terrain.
[0275] A device of an electrically motorized wheel to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the device, the device according to one
disclosed non-limiting embodiment of the present disclosure can
include a control system mounted to the electrically motorized
wheel, the control system operable to control an amount of
assistance from the electrically motorized wheel while travelling
uphill and an amount of resistance from the electrically motorized
wheel while traveling downhill to result in a user input
requirement about equivalent to that required by a user in the
specified environment.
[0276] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the specified
environment is a type of terrain.
[0277] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the specified
environment is a particular route.
[0278] A method for controlling a device of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include calculating a set
of parameters associated with a fitness level of the user for use
in determining an amount of resistance a user will receive from the
device of the electrically motorized wheel.
[0279] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is
performed remotely.
[0280] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is
performed via a remote device.
[0281] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
an amount of calories to be burned.
[0282] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a maximum not to exceed torque.
[0283] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a heart rate.
[0284] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a time period.
[0285] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a destination.
[0286] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a route.
[0287] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the route simulates a
particular bicycle race.
[0288] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input includes
a desired terrain.
[0289] A further embodiment of any of the foregoing embodiments of
the present disclosure may include charging a device from the user
input to the electrically motorized wheel.
[0290] A further embodiment of any of the foregoing embodiments of
the present disclosure may include generating power from the user
input to the electrically motorized wheel.
[0291] A further embodiment of any of the foregoing embodiments of
the present disclosure may include generating power to a power grid
from the user input to the electrically motorized wheel.
[0292] A further embodiment of any of the foregoing embodiments of
the present disclosure may include storing power generated from the
user input to the electrically motorized wheel.
[0293] A further embodiment of any of the foregoing embodiments of
the present disclosure may include charging a mobile device from
the user input to electrically motorized wheel, the mobile device
operable to communicate the user input to the electrically
motorized wheel.
[0294] A further embodiment of any of the foregoing embodiments of
the present disclosure may include discarding power generated from
the user input to the electrically motorized wheel.
[0295] A further embodiment of any of the foregoing embodiments of
the present disclosure may include discarding power generated from
the user input to the electrically motorized wheel through heat
production.
[0296] A further embodiment of any of the foregoing embodiments of
the present disclosure may include determining the amount of
resistance the user will receive from the device of the
electrically motorized wheel, the amount of resistance determined
based on a particular distance.
[0297] A further embodiment of any of the foregoing embodiments of
the present disclosure may include determining the amount of
resistance the user will receive from the device of the
electrically motorized wheel, the amount of resistance determined
based on a particular time.
[0298] A method of controlling a device of an electrically
motorized wheel for converting a non-motorized vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include receiving a first
input indicative of a quantity of energy a user wishes to expend
operating the electrically motorized vehicle; receiving a second
input indicative of a destination; and controlling operation of the
device of the electrically motorized wheel in response to the first
input and the second input to achieve the use of the desired
quantity of user expended energy over a route to the
destination.
[0299] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the first input is in
Calories.
[0300] A further embodiment of any of the foregoing embodiments of
the present disclosure may include calculating an amount of energy
based on the terrain between the destination and an initial
point.
[0301] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
includes adjusting at least one of the assistance and the
resistance provided by the electrically motorized wheel to a user
input of a user.
[0302] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is a
pedaling input.
[0303] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the second input is one
of an address and a GPS location.
[0304] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include a control system mounted to the
electrically motorized wheel, the control system operable to
control a amount of assistance and resistance from the electrically
motorized wheel to burn a desired quantity of energy a user wishes
to expend operating the electrically motorized vehicle.
[0305] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the desired quantity of
energy is input to the control system via a mobile device.
[0306] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the desired quantity of
energy is input as Calories.
[0307] A method for controlling a device of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include controlling an
amount of assistance from the device of the electrically motorized
wheel while travelling uphill and an amount of resistance from the
electrically motorized wheel while traveling downhill to result in
a user input requirement about equivalent to that required to
propel the vehicle on a level surface.
[0308] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling the
amount of assistance while travelling uphill and the amount of
resistance while traveling downhill is based on a user
selection.
[0309] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
includes adjusting a user adjustable parameter.
[0310] A further embodiment of any of the foregoing embodiments of
the present disclosure may include 3, wherein the user adjustable
parameter includes a minimum incline of the hill.
[0311] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user adjustable
parameter includes a desired user input limit.
[0312] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the amount of
resistance while traveling downhill includes braking.
[0313] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user adjustable
parameter includes a maximum downhill speed.
[0314] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
includes a mode selection from a plurality of operational
modes.
[0315] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein one of the plurality of
operational modes includes a maximum power storage mode.
[0316] A further embodiment of any of the foregoing embodiments of
the present disclosure may include wherein the amount of assistance
and resistance is based in part on data from sensors on the
wheel.
[0317] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensors on the
wheel include at least one of speed, altitude, temperature,
humidity, voltage, battery amount, incline and electrical current
amount.
[0318] A further embodiment of any of the foregoing embodiments of
the present disclosure may include wherein the amount of assistance
and resistance is based in part on calculations based on sensor
data.
[0319] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the calculation based
on sensor data includes an estimate of gear ratio.
[0320] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include a control system of the device of
the electrically motorized wheel, the control system operable to
control an amount of assistance from the electrically motorized
wheel while travelling uphill and an amount of resistance from the
electrically motorized wheel while traveling downhill to result in
a user input requirement about equivalent to that required to
propel the vehicle on a level surface.
[0321] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the amount of
assistance from the electrically motorized wheel while travelling
uphill and the amount of resistance from the electrically motorized
wheel while traveling downhill is effectuated via a mobile
device.
[0322] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the amount of
assistance from the electrically motorized wheel while travelling
uphill and the amount of resistance from the electrically motorized
wheel while traveling downhill is selected from one of a multiple
of modes.
[0323] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mode is selectable
while the electrically motorized wheel is in motion.
[0324] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include a control system of the device of
the electrically motorized wheel, the control system operable to
control an amount of assistance from the electrically motorized
wheel while travelling uphill to result in a user input requirement
about equivalent to that required to propel the vehicle on a level
surface.
[0325] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the amount of
assistance from the electrically motorized wheel while travelling
uphill is effectuated via a mobile device.
[0326] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the amount of
assistance from the electrically motorized wheel while travelling
uphill is selected from one of a multiple of modes.
[0327] A further embodiment of any of the foregoing embodiments of
the present disclosure may include wherein the mode is selectable
while the electrically motorized wheel is in motion.
[0328] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include a control system mounted to the
electrically motorized wheel, the control system operable to
continuously control the electrically motorized wheel in response
to a user input; and a wireless communication system mounted to the
electrically motorized wheel, the wireless communication system in
communication with the control system, the wireless communication
system operable to receive an input to remotely configure operation
of the electrically motorized wheel.
[0329] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remotely
configuring is effectuated via a mobile device.
[0330] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remotely
configuring is performable while the electrically motorized wheel
is in motion.
[0331] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remotely
configuring is effectuated via selection of one of a plurality of
operational modes.
[0332] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each of the plurality
of operational modes includes particular values for a control
equation effecting an amount of assistance or resistance generated
by the electrically motorized wheel in response user input.
[0333] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each of the plurality
of operational modes includes particular values for a control
equation effecting an amount of assistance or resistance generated
by the electrically motorized wheel in response to an environmental
input.
[0334] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein selection of an
operation mode includes transmitting particular values for a
control operation to the control system mounted to the electrically
motorized wheel.
[0335] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each of the particular
values is fixed.
[0336] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each of the particular
values is calculated in near real time.
[0337] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein selection of one of the
plurality of operational modes is a standard mode with default
values for the control equation.
[0338] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the plurality of
operational modes includes a flatten city mode that provides
assistance on at least one hill climb.
[0339] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include an electric motor selectively
operable to rotate a rotating system relative to a static system; a
mechanical drive system coupled to the rotational unit, the
mechanical drive system operable to rotate the rotational unit in
response to a user input applied by the user; a sensor system
mounted to the device of the electrically motorized wheel, the
sensor system operable to identify parameters indicative of the
user input; a control system mounted to the electrically motorized
wheel, the control system in communication with the sensor system
to continuously control the electric motor in response to the user
input; a power source mounted to the device of the electrically
motorized wheel, the power source electrically connected to the
control system and the electric motor; and a wireless communication
system mounted to the device of the electrically motorized wheel in
communication with the control system, the wireless communication
system operable to receive an input from a mobile device to adjust
a control equation effecting an amount of assistance or resistance
generated by the electrically motorized wheel in response to the
user input.
[0340] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the input from the
mobile device includes selection of an operational mode.
[0341] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the input from the
mobile device is operable to adjust the control equation.
[0342] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein to configure operation
of the electrically motorized wheel includes wirelessly
communicating the input while the electrically motorized wheel is
in motion.
[0343] A method of controlling a device of an electrically
motorized wheel that is adapted to convert a non-motorized wheeled
vehicle to an electrically motorized wheeled vehicle via
installation thereof, the method according to one disclosed
non-limiting embodiment of the present disclosure can include
remotely configuring the device to control an amount of assistance
or resistance generated by the electrically motorized wheel in
response to at least one of a user input and an environmental
input.
[0344] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remotely
configuring is effectuated via a mobile device.
[0345] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remotely
configuring is performable while the electrically motorized wheel
is in motion.
[0346] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remotely
configuring is effectuated via selection of one of a plurality of
operational modes.
[0347] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each of the plurality
of operational modes includes particular values for a control
equation.
[0348] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each of the particular
values is fixed.
[0349] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein each of the particular
values is calculated in essentially real time.
[0350] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein selection of one of the
plurality of operational modes is a standard mode in response to no
communication with a mobile device.
[0351] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein a set of default values
is used for the control equation in response to no communication
with a mobile device
[0352] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the plurality of
operational modes includes a flatten city mode that provides
assistance on at least one hill climb.
[0353] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the at least one of the
plurality of operational modes includes adjustable parameters to
tune the at least one mode.
[0354] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the last values sent by
the mobile device are stored and used for a control equation in
response to no communication with a mobile device.
[0355] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the environmental input
is external to the electrically motorized wheeled vehicle.
[0356] A method of controlling a device of an electrically
motorized wheel for converting a non-motorized vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the method according to one disclosed non-limiting
embodiment of the present disclosure can include detecting a
parameter indicative of a user input applied to the device of the
electrically motorized wheel to obtain user input data; detecting a
parameter indicative of an operational state of the electrically
motorized wheel to obtain operational state data; processing the
user input data and the operational state data to obtain a blended
control data structure that scales the importance of the user input
data based on the operational state data; and controlling operation
of an electric motor of the electrically motorized wheel in
response to the blended control data structure.
[0357] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
data structure is scaled to respond more strongly to the user input
data at a relatively low speed.
[0358] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
data structure is scaled to respond less strongly to the user input
data at a relatively high speed.
[0359] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
structure is scaled to respond strongly to the user input data at a
relatively low speed and is scaled to respond less strongly to the
user input data at relatively high speed.
[0360] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input data
includes a torque.
[0361] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the operational state
data includes a speed.
[0362] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include a control system operable to control
an amount of assistance and resistance provided by the device in
response to a blended control data structure.
[0363] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
data structure is scaled to respond more strongly to the measured
torque at a relatively low speed.
[0364] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
data structure is scaled to respond less strongly to the measured
torque at a relatively high speed.
[0365] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
data is scaled to respond strongly to measured torque at a
relatively low speed and is scaled to respond less strongly to
measured torque at relatively high speed.
[0366] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
data relies upon data from a torque sensor at relatively low speeds
and one of a speed sensor and a measure of power at relatively high
speed.
[0367] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the blended control
structure scales the importance of a sensor based on speed.
[0368] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor is a torque
sensor.
[0369] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor is a speed
sensor.
[0370] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the amount of
assistance and resistance provided by the electrically motorized
wheel is transitioned from one setting to another by the blended
control data structure.
[0371] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the amount of
assistance and resistance provided by the electrically motorized
wheel is transitioned via a step progression.
[0372] A method of controlling a device of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to another disclosed non-limiting
embodiment of the present disclosure can include detecting a
temperature of an electric motor of the electrically motorized
wheel; and controlling operation of the electric motor to maintain
the detected temperature within a desired range.
[0373] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes controlling assistance to a pedaling input
transmitted to electrically motorized wheel.
[0374] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes controlling resistance to a pedaling input
transmitted to electrically motorized wheel.
[0375] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes at least one of reducing and stopping assistance
to a pedaling input transmitted to electrically motorized wheel in
response to the temperature being outside a predetermined
temperature.
[0376] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes at least one of reducing and stopping resistance
to a pedaling input transmitted to electrically motorized wheel in
response to the temperature being outside a desired temperature
range.
[0377] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the electric motor is
mounted within a hub shell assembly of the electrically motorized
wheel.
[0378] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes controlling assistance to a user input
transmitted to electrically motorized wheel.
[0379] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes controlling resistance to a user input
transmitted to electrically motorized wheel.
[0380] A method of controlling a device of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to another disclosed non-limiting
embodiment of the present disclosure can include detecting a
temperature within a hub shell assembly of the device of the
electrically motorized wheel; and controlling operation of an
electric motor of the device of the electrically motorized wheel to
maintain the detected temperature within a desired range.
[0381] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes controlling assistance to a user input
transmitted to electrically motorized wheel.
[0382] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes controlling resistance to a user input
transmitted to electrically motorized wheel.
[0383] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes at least one of reducing and stopping assistance
to a pedaling input transmitted to electrically motorized wheel in
response to the temperature being outside a predetermined
temperature.
[0384] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the controlling
operation includes at least one of reducing and stopping resistance
to a pedaling input transmitted to electrically motorized wheel in
response to the temperature being outside a desired temperature
range.
[0385] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to another disclosed non-limiting embodiment of
the present disclosure can include a heat generating component
within a hub shell assembly of the device of the electrically
motorized wheel; a sensor system operable to detect a temperature
of the heat generating component; and a control system in
communication with the sensor system, the control system operable
to control an electric motor within the hub shell assembly to
maintain the detected temperature of the heat generating component
within a desired range.
[0386] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the heat generating
component is the electric motor.
[0387] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the heat generating
component is a battery system in communication with the electric
motor.
[0388] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the heat generating
component is a control board.
[0389] A method of calculating a gear ratio, the method according
to another disclosed non-limiting embodiment of the present
disclosure can include detecting a frequency content of a rider
effort operable to control a device of an electrically motorized
wheel; detecting a speed of the device of the electrically
motorized wheel; and calculating a gear ratio based on the user
input and the frequency content of the rider effort.
[0390] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the gear ratio is
utilized to control the device of an electrically motorized wheel
for converting a non-motorized vehicle to an electrically motorized
vehicle via installation of the electrically motorized wheel.
[0391] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein detecting the frequency
content of a rider effort occurs at the device of the electrically
motorized wheel.
[0392] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein detecting the speed
occurs at the device of the electrically motorized wheel.
[0393] A method of controlling a device of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the method according to another disclosed non-limiting
embodiment of the present disclosure can include detecting a
rotational velocity of a cassette of an electrically motorized
wheel; detecting a user input to the electrically motorized wheel;
and calculating a gear ratio from the rotation velocity and the
user input.
[0394] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is
determined as a pedal cadence.
[0395] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user input is a
pedaling input.
[0396] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein detecting the rotation
velocity of the electrically motorized wheel and detecting the user
input to the electrically motorized wheel occurs at the
electrically motorized wheel via at least a speed sensor and a
torque sensor.
[0397] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the speed sensor and
the torque sensor are mounted within a free wheel unit.
[0398] A method of controlling a device of an electrically
motorized wheel for converting a non-motorized vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the method according to another disclosed
non-limiting embodiment of the present disclosure can include
measuring a speed of an electric motor of the device of the
electrically motorized wheel that is in electrical connection to a
direct mechanical drive; measuring a voltage of a battery that
powers the device of the electric motor; estimating
terminal-to-terminal EMF voltage (VEMF); determining if VEMF is
greater or equal to a voltage limit; and if the VEMF is above the
limit, disconnecting an electrical connection between the motor
drive and the electric motor.
[0399] A further embodiment of any of the foregoing embodiments of
the present disclosure may include upon determining that VEMF is
greater than a limit, opening a motor relay contact to the electric
motor.
[0400] A further embodiment of any of the foregoing embodiments of
the present disclosure may include upon determining that VEMF is
less than an amount that is a specified margin lower than the
limit, closing the motor relay contact.
[0401] A further embodiment of any of the foregoing embodiments of
the present disclosure may include utilizing a motor resistance
from the electric motor to dissipate braking energy.
[0402] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to another disclosed non-limiting embodiment of
the present disclosure can include a control system mounted to the
device of the electrically motorized wheel, the control system
operable to continuously control the electrically motorized wheel
in response to a user input; and a sensor system mounted to the
device of the electrically motorized wheel, the sensor system in
communication with the control system to control the electrically
motorized wheel at least in part based on data sensed by the sensor
system.
[0403] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes torque.
[0404] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes speed.
[0405] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes acceleration.
[0406] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes an angular rate measure.
[0407] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes environmental conditions.
[0408] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, where in the data sensed by the
sensor system includes wind speed.
[0409] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes a temperature within a hub shell assembly of
the electrically motorized wheel.
[0410] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes a battery current
[0411] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes a battery level.
[0412] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes a surface condition upon which the
electrically motorized wheel is operating.
[0413] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the data sensed by the
sensor system includes a slope upon which the electrically
motorized wheel is operating.
[0414] A physical therapy system according to another disclosed
non-limiting embodiment of the present disclosure can include a
device of an electrically motorized wheel to supply at least one of
assistance and resistance to a user, the amount of the at least one
of assistance and resistance is modified in response to a set of
control parameters; a prescription module to prescribe a physical
therapy prescription for operation of the device of the
electrically motorized wheel; and a rehabilitation application in
communication with the prescription module to calculate the set of
control parameters based on the physical therapy prescription.
[0415] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the rehabilitation
application is operable on a mobile device that communicates
between the device of the electrically motorized wheel and the
prescription module.
[0416] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the rehabilitation
application is operable to communicate user compliance with at
least one of prescribed exertion, time and frequency to the
prescription system via communication with the prescription
module.
[0417] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the rehabilitation
application is operable to communicate user compliance with
physical therapy prescription via communication with the
prescription module.
[0418] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the physical therapy
prescription prescribes at least one of an amount of exertion,
time, and frequency of a rehabilitation exercise.
[0419] A method of providing physical therapy according to another
disclosed non-limiting embodiment of the present disclosure can
include prescribing a prescribed amount of exertion for a user;
calculating a set of control parameters for a device of an
electrically motorized wheel based on the prescribed amount of
exertion; and communicating the calculated control parameters to an
electrically motorized wheel.
[0420] A further embodiment of any of the foregoing embodiments of
the present disclosure may include controlling at least one of an
assistance and resistance provided by the device of the
electrically motorized wheel for the user in response to the
calculated control parameters.
[0421] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the prescribed amount
of exertion includes at least one of a time of exertion and a
frequency of exertion.
[0422] A further embodiment of any of the foregoing embodiments of
the present disclosure may include communicating at least one of
the actual amounts of exertion by the user, the time of exertion,
and the frequency of exertion relative to prescribed.
[0423] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the prescribed amount
is controlled remotely in essentially real time.
[0424] A physical training system according to another disclosed
non-limiting embodiment of the present disclosure can include a
device of an electrically motorized wheel to supply at least one of
assistance and resistance to a user wherein the amount of the at
least one of assistance and resistance is modified in response to a
set of control parameters; a user interface to facilitate a user
goal specification; and a control module operable to calculate the
set of control parameters based on the user goal specification and
communicate the set of control parameters to the device of the
electrically motorized wheel.
[0425] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user goal
specification includes at least one of target total calories
burned, rate of calorie expenditure, exercise time, exercise
frequency, and target increase is energy expenditure.
[0426] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the device of the
electrically motorized wheel communicates at least one of amount of
assistance provided, amount of resistance provided, total calories
burned during exercise period, rate of calories burned, torque
applied by the user to the training application.
[0427] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the control module is
effectuated by a training application on a mobile device.
[0428] A method for controlling an electrically motorized vehicle,
the method according to another disclosed non-limiting embodiment
of the present disclosure can include calculating a set of
parameters to control an amount of assistance or resistance
generated by the device of the electrically motorized wheel in
response to a user input the set of parameters calculated in
response to a user selecting one of a plurality of operational
modes.
[0429] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the plurality of
operational modes include a "flattening city" mode that provides
assistance on at least one hill climb.
[0430] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the plurality of
operational modes include an exercise mode that is associated with
a user entering a targeted amount of calories to be burned.
[0431] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the exercise mode
includes limiting resistance generated by the electrically
motorized wheel in response to a maximum value input by the
user.
[0432] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the one of the
plurality of operational modes is associated with a user-entered
limit.
[0433] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user-entered limit
includes an amount of calories to be burned.
[0434] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user entered limit
includes a heart rate.
[0435] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user entered limit
includes a time.
[0436] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user entered limit
includes a speed of the electrically motorized wheel
[0437] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein at least one of the set
of parameters are associated with a limit based on an operational
condition of the electrically motorized wheel.
[0438] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein at least one of the set
of parameters are associated with a limit based on preexisting
data.
[0439] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the preexisting data
includes a local regulation.
[0440] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the preexisting data
includes a location.
[0441] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the limit is a maximum
speed based on location and local speed regulations.
[0442] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the location is at
least one of on-road and off-road.
[0443] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user selecting is
performed via a mobile device.
[0444] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device
provides a user interface.
[0445] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user interface
includes at least one button that occupies a minimum of 1 inch by 1
inch of display space.
[0446] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user interface
includes a gesture identifiable by the mobile device.
[0447] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to another disclosed non-limiting embodiment of
the present disclosure can include a control system mounted to the
device of the electrically motorized wheel, the control system
operable to calculate a set of parameters to control an amount of
assistance or resistance generated by the device in response to at
least one of a user input, a wheel operating condition, and an
environmental factor; and a wireless communication system mounted
to the device of the electrically motorized wheel, the wireless
communication system in communication with the control system, the
wireless communication system operable to receive an operational
mode that at least partially defines the set of parameters.
[0448] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the operational mode is
effectuated via a selection on a mobile device.
[0449] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the remotely
configuring is performable while the electrically motorized wheel
is in motion.
[0450] A user interface for controlling a device of an electrically
motorized wheel for converting a vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the user interface according to one disclosed non-limiting
embodiment of the present disclosure can include at least one
button displayable by the user interface to control a function
associated with the device.
[0451] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the at least one button
is operable to select an operational mode of the device.
[0452] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the at least one button
is related to navigation of the device.
[0453] A further embodiment of any of the foregoing embodiments of
the present disclosure may include 1, wherein the at least one
button is related to locking and unlocking the electrically
motorized wheel.
[0454] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the at least one button
is related to an identification of an obstacle.
[0455] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the button occupies a
minimum of 1 inch by 1 inch of display space.
[0456] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the user interface is a
user interface of a touch screen-enabled mobile device.
[0457] A method of navigating an electrically motorized wheel that
is adapted for converting a vehicle to an electrically motorized
vehicle via installation of the electrically motorized wheel, the
method according to one disclosed non-limiting embodiment of the
present disclosure can include displaying a directional arrow for
guidance of the vehicle on which the electrically motorized wheel
is installed along a route; and pointing the directional arrow in
the direction of a next stage of a route to a destination with
respect to a present position of the electrically motorized
wheel.
[0458] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the directional arrow
is displayed without a map.
[0459] A further embodiment of any of the foregoing embodiments of
the present disclosure may include determining the route at least
in part from third party data.
[0460] A further embodiment of any of the foregoing embodiments of
the present disclosure may include occupying a minimum of 1 inch by
1 inch of display space with the directional arrow.
[0461] A further embodiment of any of the foregoing embodiments of
the present disclosure may include aggregating a plurality of
routes similar to the route and optimizing the aggregated plurality
of routes to determine the route guided by the directional
arrow.
[0462] A method of navigating a vehicle, the method according to
one disclosed non-limiting embodiment of the present disclosure can
include displaying a directional arrow on a mobile device mountable
to the vehicle, the directional arrow operable to provide guidance
of the vehicle along a route; and pointing the directional arrow in
the direction of a next stage of the route to a destination with
respect to a present position of the mobile device.
[0463] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the directional arrow
is displayed without a map.
[0464] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the route is
indifferent to roads.
[0465] A further embodiment of any of the foregoing embodiments of
the present disclosure may include occupying a minimum of 1 inch by
1 inch of display space with the directional arrow.
[0466] A method of protecting an electrically motorized wheel to
convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation thereof, the method
according to another disclosed non-limiting embodiment of the
present disclosure can include unlocking at least one feature of
the electrically motorized wheel in response to receiving an
indicator that a mobile device of the user of the electrically
motorized wheel is within a predetermined proximity of the
electrically motorized wheel.
[0467] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the indicator is a
signal that includes a unique identifier of the mobile device.
[0468] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is a
smartphone.
[0469] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the proximity is
determined via a wireless communication.
[0470] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wireless
communication is a local wireless communication from the mobile
device to the electrically motorized wheel.
[0471] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wireless
communication is through a communications network.
[0472] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the location of at
least one of the mobile device and the wheel is based on a global
positioning system.
[0473] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the location of at
least one of the mobile device and the wheel is based on a cellular
network triangulation system.
[0474] A further embodiment of any of the foregoing embodiments of
the present disclosure may include requiring a security input to
the mobile device as a condition to unlocking the wheel.
[0475] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the security input
includes at least one of entry of a code, entry of a password, a
facial recognition, recognition of a secure token, and a
fingerprint scan.
[0476] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the security input
includes a secure token, wherein the secure token is an electronic
key.
[0477] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the electronic key for
another vehicle is a car key.
[0478] A further embodiment of any of the foregoing embodiments of
the present disclosure may include locking the electrically
motorized wheel in response to the mobile device being beyond the
proximity.
[0479] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein locking the wheel is
further conditioned on the wheel not being in motion.
[0480] A further embodiment of any of the foregoing embodiments of
the present disclosure may include locking the electrically
motorized wheel in response to the mobile device not being within a
predetermined proximity.
[0481] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein locking the wheel is
further conditioned on the wheel not being in motion.
[0482] A further embodiment of any of the foregoing embodiments of
the present disclosure may include locking the electrically
motorized wheel in response to a user not being seated on the
vehicle.
[0483] A further embodiment of any of the foregoing embodiments of
the present disclosure may include locking the electrically
motorized wheel in response to the electrically motorized wheel
being stationary for a predetermined time period.
[0484] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the unlocking includes
exiting a high-impedance state.
[0485] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the locking includes
configuring a motor controller to enter a high-impedance state
resisting rotation of electrically motorized wheel.
[0486] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is an
electronic car key.
[0487] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is a
key.
[0488] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is a
fob.
[0489] A system according to another disclosed non-limiting
embodiment of the present disclosure can include a motor controller
mounted to a device of an electrically motorized wheel that is
adapted for converting a non-motorized vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel, the motor controller operable to continuously control the
device in response to a user input; and a wireless control system
in communication with the motor controller, the wireless control
system operable to selectively manage the state of a locking mode
of the electrically motorized wheel.
[0490] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the locking mode is
operable to trigger an alarm in response to movement of the
electrically motorized wheel.
[0491] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the locking mode is
operable to report GPS coordinates and a time stamp in response to
the alarm being triggered.
[0492] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the device is
selectively unlocked.
[0493] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the device is
selectively unlocked in response to the wireless control system
being within a predetermined proximity with the device.
[0494] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the device is
selectively unlocked in response to a user sitting on the
vehicle.
[0495] A further embodiment of any of the foregoing embodiments of
the present disclosure may include communicated at least one of an
email message and a text message to the wireless control system in
response to movement of the device while in the locked mode.
[0496] A method according to another disclosed non-limiting
embodiment of the present disclosure can include locking a device
of an electrically motorized wheel, the electrically motorized
wheel for converting a non-motorized vehicle to an electrically
motorized vehicle via installation of the electrically motorized
wheel; and triggering an alarm in response to movement of the
locked electrically motorized wheel.
[0497] A further embodiment of any of the foregoing embodiments of
the present disclosure may include reporting GPS coordinates of the
device to a wireless control system in response to the alarm being
triggered.
[0498] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, reporting a time stamp of the
device to a wireless control system in response to the alarm being
triggered.
[0499] A method according to another disclosed non-limiting
embodiment of the present disclosure can include locking a device
of an electrically motorized wheel, the electrically motorized
wheel being adapted for converting a non-motorized vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel; and awaiting a request to unlock the device.
[0500] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein awaiting the request
includes awaiting a wireless signal.
[0501] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wireless signal is
generated by a mobile device.
[0502] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is a
smartphone.
[0503] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is an
electronic car key.
[0504] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wireless signal is
generated by a mobile device associated with an owner of the
device.
[0505] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wireless signal is
generated by a mobile device associated with a guest authorized by
the mobile device associated with the owner of the device.
[0506] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein awaiting the request
includes awaiting plugging in of a device into the electrically
motorized wheel.
[0507] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is a
key.
[0508] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the mobile device is a
fob.
[0509] A device of an electrically motorized wheel that is adapted
to convert a non-motorized wheeled vehicle to an electrically
motorized wheeled vehicle via installation of the device, the
device according to one disclosed non-limiting embodiment of the
present disclosure can include an accessory port of the device of
the electrically motorized wheel, the accessory port configured
with a hardware interface to provide an accessory device with power
and communication with a control system of the device.
[0510] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device is
mountable to the electrically motorized wheel.
[0511] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device is
a mobile device.
[0512] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the power is provided
to an electrical grid through the accessory port.
[0513] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory port is
provided on a user interface of the electrically motorized
wheel.
[0514] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a light.
[0515] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a speaker.
[0516] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes an inertial measurement sensor including at least one of
the following: accelerometer, gyroscopic sensor, inclinometer.
[0517] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wherein the
accessory device includes a gyroscopic sensor operable to identify
a user operation of the vehicle.
[0518] A further embodiment of any of the foregoing embodiments of
the present disclosure may include 9, wherein the gyroscopic sensor
facilitates stability of the vehicle.
[0519] A device of an electrically motorized wheel to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the device, the device according to one
disclosed non-limiting embodiment of the present disclosure can
include a static system and a rotating system around an axis of
rotation, the static system coupled to the non-motorized wheel
vehicle; an electric motor selectively operable to rotate the
rotating system relative to the static system; a mechanical drive
system coupled to the rotational unit, the mechanical drive system
operable to rotate the rotational unit in response to a rotational
input applied by the user; a sensor system mounted to the
electrically motorized wheel, the sensor system operable to
identify parameters indicative of the rotational input; a control
system mounted to the electrically motorized wheel, the control
system in communication with the sensor system to continuously
control the electric motor in response to the rotational input; a
power source mounted to the electrically motorized wheel, the power
source electrically connected to the control system and the
electric motor; and a hardware interface in communication with the
control system, the hardware interface operable to provide
communication and power interchange between the electrically
motorized wheel and an accessory device.
[0520] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the hardware interface
includes at least one of as USB, USB 2.0, Thunderbolt, Dicom, PCI
Express, CAN.
[0521] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a light.
[0522] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a speaker.
[0523] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a gyroscopic sensor.
[0524] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the gyroscopic sensor
facilitates performance of the vehicle.
[0525] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the gyroscope
facilitates stability of the vehicle.
[0526] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a proximity sensor.
[0527] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes an interface to a power grid.
[0528] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a power storage device.
[0529] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a memory storage device.
[0530] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a stand to lock the electrically motorized wheel.
[0531] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a dock to charge the electrically motorized wheel.
[0532] A device of an electrically motorized wheel to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the device, the device according to one
disclosed non-limiting embodiment of the present disclosure can
include a control system of the device, the control system operable
to continuously control the electrically motorized wheel in
response to a user input; and a hardware interface in communication
with the control system, the hardware interface operable to provide
communication and power interchange between the control system and
an accessory device.
[0533] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a light.
[0534] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a battery.
[0535] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a proximity sensor.
[0536] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device
includes a gyroscopic sensor.
[0537] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the gyroscopic sensor
facilitates performance of the vehicle.
[0538] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the gyroscope
facilitates stability of the vehicle.
[0539] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the hardware interface
is mountable within a hub shell assembly that contains the control
system.
[0540] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the accessory device is
mountable within the hub shell assembly.
[0541] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the hardware interface
is mountable external to a hub shell assembly that contains the
control system.
[0542] A device of an electrically motorized wheel to convert a
non-motorized wheeled vehicle to an electrically motorized wheeled
vehicle via installation of the device, the device according to one
disclosed non-limiting embodiment of the present disclosure can
include a modular systems package of the device of the electrically
motorized wheel, the modular systems package including a control
system operable to continuously control the device of the
electrically motorized wheel in response to a user input.
[0543] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package includes a communications system.
[0544] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package includes a global positioning system (GPS).
[0545] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package is in communication with a sensor operable to provide data
regarding the user.
[0546] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor is wearable
by the user.
[0547] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package includes a sensor operable to sample an environmental
condition.
[0548] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the environmental
condition includes at least one of temperature, humidity, wind
direction, wind speed, CO2, NOx.
[0549] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the environmental
condition includes a terrain condition.
[0550] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package is in communication with a sensor operable to provide data
regarding the wheel operation conditions.
[0551] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the wheel operation
conditions include at least one of motor temperature, battery
voltage, battery current, cassette rotation speed, battery
temperature, electronics temperature, and motor relay status.
[0552] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package includes a communication system for communication with a
server that correlates data from the modular systems package with a
database.
[0553] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package is mounted within a hub shell assembly.
[0554] A modular systems package for a device of an electrically
motorized wheel to convert a non-motorized wheeled vehicle to an
electrically motorized wheeled vehicle via installation of the
device, the modular systems package according to one disclosed
non-limiting embodiment of the present disclosure can include an
electric motor selectively operable to rotate a rotating system
relative to a static system; a sensor system operable to identify
parameters indicative of a user input; and a control system in
communication with the sensor system to continuously control the
electric motor in response to the user input.
[0555] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package includes a communications system.
[0556] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package includes a global positioning system (GPS) unit.
[0557] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the modular systems
package includes a cellular communications system.
[0558] A further embodiment of any of the foregoing embodiments of
the present disclosure may include a power source mounted to the
electrically motorized wheel, the power source electrically
connected to the control system and the electric motor.
[0559] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the sensor system is
further enabled to identify parameters indicative of wheel
operations.
[0560] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein parameters indicative
of wheel operations include at least one of motor temperature,
battery voltage, battery current, battery charge, cassette rotation
speed, and motor rely status.
[0561] A system to facilitate user safety when using an
electrically motorized wheel that is adapted for converting a
vehicle to an electrically motorized vehicle via installation of
the electrically motorized wheel, the system according to another
disclosed non-limiting embodiment of the present disclosure can
include a proximity sensor on the electrically motorized wheel in
communication with a user mobile device; and a proximity alert
module on the mobile device enabled to alert a user when a sensed
proximity crosses a threshold.
[0562] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the alert is at least
one of an audible alert, a visual alert, and a tactile alert.
[0563] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the alert includes a
"jitter" in performance.
[0564] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the alert includes an
operational command to the electrically motorized wheel.
[0565] A system to facilitate user safety when using an
electrically motorized wheel for converting a vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the system according to another disclosed
non-limiting embodiment of the present disclosure can include a
proximity sensor mounted to the electrically motorized wheel; a
proximity alert module on a mobile device in communication with the
proximity sensor.
[0566] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the proximity alert
module is operable to notify a user of an object within a
predetermined proximity of the electrically motorized vehicle.
[0567] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the proximity alert
module is operable to notify other vehicles of the electrically
motorized vehicle's geographic position when a sensed proximity
crosses a threshold.
[0568] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the proximity sensor is
at least one of a LIDAR, RADAR, SONAR, and imagery device.
[0569] A system to facilitate user safety when using an
electrically motorized wheel for converting a vehicle to an
electrically motorized vehicle via installation of the electrically
motorized wheel, the system according to another disclosed
non-limiting embodiment of the present disclosure can include a
proximity sensor on the electrically motorized wheel; a geographic
positioning system; and a proximity alert module on a mobile device
in communication with the proximity sensor and the geographic
positioning system.
[0570] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the proximity alert
module is operable to notify a user of an object within a
predetermined
[0571] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the proximity alert
module is operable to notify other vehicles of the electrically
motorized vehicle's geographic position when a sensed proximity
crosses a threshold.
[0572] A further embodiment of any of the foregoing embodiments of
the present disclosure may include, wherein the proximity sensor is
at least one of a LIDAR, RADAR, SONAR, and imagery device.
[0573] These and other systems, methods, objects, features, and
advantages of the present disclosure will be apparent to those
skilled in the art from the following detailed description of the
other embodiment and the drawings. All documents mentioned herein
are hereby incorporated in their entirety by reference.
[0574] The foregoing features and elements may be combined in
various combinations without exclusivity, unless expressly
indicated otherwise. These features and elements as well as the
operation thereof will become more apparent in light of the
following description and the accompanying drawings. It should be
understood, however, the following description and drawings are
intended to be exemplary in nature and non-limiting.
BRIEF DESCRIPTION OF THE FIGURES
[0575] Various features will become apparent to those skilled in
the art from the following detailed description of the disclosed
non-limiting embodiment. The drawings that accompany the detailed
description can be briefly described as follows:
[0576] Various features will become apparent to those skilled in
the art from the following detailed description of the disclosed
non-limiting embodiment. The drawings that accompany the detailed
description can be briefly described as follows:
[0577] FIG. 1A schematically represents a side view of an
electrically motorized wheel.
[0578] FIG. 1B schematically represents a side view of a hub and
spoke interface
[0579] FIG. 1C schematically represents a sectional view of a hub
and spoke interface.
[0580] FIG. 1D schematically represents a side view of a hub and
spoke interface.
[0581] FIG. 1E schematically represents a sectional view of a hub
and spoke interface.
[0582] FIG. 1F schematically represents a side view of a hub and
spoke interface.
[0583] FIG. 1G schematically represents a side view showing a hub
and spoke interface.
[0584] FIG. 1H schematically represents a side view showing a hub
and spoke interface.
[0585] FIG. 1I schematically represents an enlarged plan view of
embodiments of an attachment end of a spoke, showing how the
attachment end seats into the pocket.
[0586] FIG. 2A is a side view of electrically motorized wheel of
FIG. 1A with its side cover removed showing internal elements.
[0587] FIG. 2B is a schematic diagram of an embodiments of the
electrically motorized vehicle including the electrically motorized
wheel of FIG. 1A.
[0588] FIG. 3 is a simplified schematic of the mobile device.
[0589] FIG. 4A schematically represents details of an embodiment of
a torque sensor system
[0590] FIG. 4B schematically represents details of embodiments of a
torque sensor system
[0591] FIG. 4C schematically represents details of embodiments of a
torque sensor system.
[0592] FIG. 4D schematically represents details of embodiments of a
torque sensor system.
[0593] FIG. 5 schematically represents the environment of the
mobile device.
[0594] FIG. 6A schematically represents embodiments of the
electrically motorized wheel installed on a wheelchair.
[0595] FIG. 6B schematically represents forces and torques
associated with the electrically motorized vehicle.
[0596] FIG. 7A schematically represents a side view of a
wheelbarrow retrofitted with the electrically motorized wheel of
FIG. 1A.
[0597] FIG. 7B schematically represents a top down view of
electrically motorized wheelbarrow of FIG. 7A.
[0598] FIG. 7C schematically represents details of the force
sensing connection between the electrically motorized wheel and
electrically motorized wheelbarrow.
[0599] FIG. 8 schematically represents a side view of a wagon
retrofitted with the sensor enabled electrically motorized wheel of
FIG. 1A.
[0600] FIG. 9A is an exploded view of a single speed electrically
motorized wheel.
[0601] FIG. 9B is a sectional view of a single speed electrically
motorized wheel.
[0602] FIG. 9C is an exploded view of a static system of the
electrically motorized wheel.
[0603] FIG. 9D is an exploded view of a rotational system of the
electrically motorized wheel.
[0604] FIG. 9E is an exploded view of a system of the electrically
motorized wheel.
[0605] FIG. 9F is an exploded view of an electric motor of the
electrically motorized wheel.
[0606] FIG. 9G is an exploded view of a mechanical drive system of
the electrically motorized wheel.
[0607] FIG. 9H is a schematic view of a system of the electrically
motorized vehicle.
[0608] FIG. 9I is an exploded view of a system of the electrically
motorized wheel.
[0609] FIG. 10A is a sectional view of a single speed electrically
motorized wheel.
[0610] FIG. 10B is a sectional view of a multiple speed
electrically motorized wheel.
[0611] FIG. 11A is a perspective view of a multiple speed
electrically motorized wheel.
[0612] FIG. 11B is a perspective view of a torque arm for the
electrically motorized wheel.
[0613] FIG. 11C is a perspective view of a torque arm for the
electrically motorized wheel.
[0614] FIG. 11D is a perspective view of a torque arm for the
electrically motorized wheel.
[0615] FIG. 11E is a perspective view of a nut for the torque arm
for the electrically motorized wheel.
[0616] FIG. 12A is a perspective view of a user interface for the
electrically motorized vehicle.
[0617] FIG. 12B is a perspective view of a plug for the user
interface for the electrically motorized vehicle.
[0618] FIG. 13A is a sectional view for a thermal path within the
electrically motorized wheel.
[0619] FIG. 13B is a perspective view for a thermal path within the
electrically motorized wheel.
[0620] FIG. 13C is an outer side view for a thermal path within the
electrically motorized wheel.
[0621] FIG. 13D is an inner side view of an airflow path through
the electrically motorized wheel.
[0622] FIG. 13E is a side view of an airflow path through the
electrically motorized wheel.
[0623] FIG. 13F is a schematic view of a power system for the
electrically motorized vehicle.
[0624] FIG. 13G is a schematic view of a power system for the
electrically motorized vehicle.
[0625] FIG. 14A is a schematic view of a system for the
electrically motorized vehicle.
[0626] FIG. 14B is a schematic view of a system for the
electrically motorized vehicle.
[0627] FIG. 14C is a schematic view of an ad hoc local traffic net
system for the electrically motorized vehicle.
[0628] FIG. 14D is a schematic view of a global traffic net system
for the electrically motorized vehicle.
[0629] FIG. 15A is a schematic view of a system for the
electrically motorized vehicle.
[0630] FIG. 15B is a page of a mobile device in communication with
the electrically motorized vehicle.
[0631] FIG. 15C is a page of a mobile device in communication with
the electrically motorized vehicle.
[0632] FIG. 15D is a page of a mobile device in communication with
the electrically motorized vehicle.
[0633] FIG. 15E is a page of a mobile device in communication with
the electrically motorized vehicle.
[0634] FIG. 16A is a schematic view of a system for the
electrically motorized vehicle.
[0635] FIG. 16B is a mobile device page of a system for the
electrically motorized vehicle.
[0636] FIG. 16C is a mobile device page of a system for the
electrically motorized vehicle.
[0637] FIG. 16D is a mobile device page of a system for the
electrically motorized vehicle.
[0638] FIG. 16E is a mobile device page of a system for the
electrically motorized vehicle.
[0639] FIG. 16F is a mobile device page of a system for the
electrically motorized vehicle.
[0640] FIG. 16G is a mobile device page of a system for the
electrically motorized vehicle.
[0641] FIG. 17A is a schematic view of a system for the
electrically motorized vehicle.
[0642] FIG. 17B is a schematic view of a system for the
electrically motorized vehicle.
[0643] FIG. 18A is an algorithm for operation of the electrically
motorized vehicle.
[0644] FIG. 19A is an algorithm for operation of the electrically
motorized vehicle.
[0645] FIG. 19B is an algorithm for operation of the electrically
motorized vehicle.
[0646] FIG. 20A is an algorithm for operation of the electrically
motorized vehicle.
[0647] FIG. 21A is an algorithm for operation of the electrically
motorized vehicle.
[0648] FIG. 22A is an algorithm for operation of the electrically
motorized vehicle.
[0649] FIG. 23A is an algorithm for operation of the electrically
motorized vehicle.
[0650] FIG. 23B is a schematic view of a wiring diagram for of the
electrically motorized vehicle.
[0651] FIG. 23C is a flow chart for operation of the electrically
motorized vehicle.
[0652] FIG. 23D is an electrical schematic representative of a
thermal model for the electrically motorized vehicle.
[0653] FIG. 23E is a thermal schematic for the electrically
motorized vehicle.
[0654] FIG. 24A is an algorithm for operation of the electrically
motorized vehicle.
[0655] FIG. 24B is an algorithm for operation of the electrically
motorized vehicle.
[0656] FIG. 25A is an algorithm for operation of the electrically
motorized vehicle.
[0657] FIG. 25B is an algorithm for operation of the electrically
motorized vehicle.
[0658] FIG. 26A is a perspective view of a test cell for the
electrically motorized vehicle.
[0659] FIG. 27A is a schematic view of a server for the
electrically motorized vehicle.
[0660] FIG. 28A is a schematic view of a server for the
electrically motorized vehicle.
[0661] FIG. 29A is a schematic view of a server for the
electrically motorized vehicle.
[0662] FIG. 30A is a schematic view of a server for the
electrically motorized vehicle.
DETAILED DESCRIPTION
[0663] FIG. 1A schematically illustrates an electrically motorized
wheel 100 to convert a non-motorized vehicle, such as a bicycle,
into a motorized vehicle, by installation of the electrically
motorized wheel onto the vehicle. Disclosure that is not
specifically limited to bicycles should be understood to apply to
other wheeled vehicles except where context precludes such
application. It should be further understood that although
particular systems are separately defined, each or any of the
systems can be otherwise combined or separated via hardware and/or
software.
[0664] While many of the components, modules, systems, sub-systems,
uses, methods and applications disclosed herein are described in
connection with embodiments of an electrically motorized wheel, or
a device of an electrically motorized wheel, it should be
understood that many of the descriptions herein in connection with
an electrically motorized wheel are exemplary and that many of the
inventive concepts may be applied more generally (that is not
necessarily in connection with a wheel), such as to electrically
motorized vehicles generally, electrically motorized bikes,
electric bikes, e-bikes, pedelec bikes, electric assist bikes,
scooters, battery powered vehicles, and other vehicles that are
powered by mechanisms other than an electrically motorized wheel or
device thereof. For example, inventive concepts relating to data
collection by or control of an electrically motorized wheel
(including involving an associated user device like a smart phone)
may apply in the context of another vehicle, such as an
electrically motorized or hybrid vehicle, or to a sub-system or
component thereof, such as a battery management system, any energy
storage and delivery system, any drive system, or the like.
Similarly, inventive concepts being described in connection to an
electrically motorized wheel, or device thereof, as a platform
having various interfaces, including accessory interfaces for
connection to and interfacing with a wide range of other devices
and systems, may in many cases apply to other vehicles, or
components or sub-systems thereof, that do not use an electrically
motorized wheel. Further, concepts relating to mechanical and
thermal structures may apply more generally, such as to components
of other vehicles, to motor systems, and the like. Further, skilled
artisans will appreciate, where applicable, that embodiments
described herein in connection with the mounting to or otherwise
containment on a wheel or device of a wheel may be applied to a
vehicle in other spatial arrangements or configurations outside of
or off (either partially or wholly), a wheel or device on/of a
wheel. Except where otherwise indicated, the disclosure herein is
not intended to be limited to an electrically motorized wheel, and
various other such embodiments as disclosed throughout this
disclosure are intended to be encompassed, as limited only by the
claims.
[0665] The electrically motorized wheel 100 can include a tire 102,
a wheel rim 104, a plurality of spokes 108, and a motorized wheel
hub 110. References in this disclosure to a device of an
electrically motorized wheel should be understood to encompass any
of these elements, as well as components or sub-systems of any of
them, except where context indicates otherwise. Also, references
throughout this disclosure to the electrically motorized wheel 100
should be understood to encompass any such devices of the wheel,
components, or sub-systems, except where context indicates
otherwise. For example, a reference to a use of an electrically
motorized wheel 100 (such as for data collection, as a platform for
connection of accessories, or the like) and/or a reference to an
input, operational state, control parameter, or the like of an
electrically motorized wheel 100 should be understood to include
and apply to uses, inputs, operational states, control parameters,
and the like of a device, component of sub-system of the wheel
(e.g., using or controlling the motorized wheel hub 110 or some
other sub-system inside the hub 110), whether or not the entire set
of components is present (e.g., spokes, rim, tire, etc.) in a
particular embodiment. The descriptions and corresponding figures
are intended to be illustrative only and are in no way to limit the
type of vehicles, or the specific details of how a user input is
transmitted to and interpreted by the electrically motorized wheel
100.
[0666] The motorized wheel hub 110 can include a hub shell assembly
111 that completely encloses components and systems to power the
wheel 100, including inducing or resisting movements such as
rotation, of the rim 104, spokes 108 and tire 102. The enclosed
components and systems may include various modules, components, and
sub-systems and may be referred to as a modular systems package.
That is, the modular systems package describes the various elements
that are contained within the hub shell assembly 111. In
embodiments, the wheel rim 104 is connected to the self-contained
motorized wheel hub 110 via a plurality of spokes 108 that are
under tension. Further, although this embodiment has specific
illustrated components in a bicycle embodiment, the embodiments of
this disclosure are not limited to those particular combinations
and it is possible to use some of the components or features from
any of the embodiments in combination with features or components
from any of the other embodiments.
[0667] In embodiments, each of the plurality of spokes 108 that
connect the wheel rim 104 to the motorized wheel hub 110 may have a
first end and a second end that extend at an angle to each other,
and an intermediate attachment portion 112 formed such that the
first and second ends extend at an acute angle with respect to each
other such that the first and second ends attach to the wheel rim
104.
[0668] FIGS. 1B-1C illustrate embodiments in which the attachment
portion 112 may fit into a recess 114 in the surface of the
motorized wheel hub 110 to secure the motorized wheel hub 110 to
the attachment portions 112 of the plurality of spokes 108. The
recess 114 may have a shape to receive and secure a curved or
angled attachment portion 112. The internal portion of the recess
114 extends slightly closer to the wheel rim 104 in a radial
direction to form a lip 120. As the spoke 108 is tightened, it
pulls attachment portion 112 radially toward electrically motorized
wheel rim. This causes the attachment portion to slide along the
lip 120 and into the pocket 114. The attachment portion 112 becomes
trapped in the recess 114 thereby securing the spoke attachment
portion 112 to the motorized wheel hub 110.
[0669] With reference to FIGS. 1D and 1E, the attachment portion
112 is secured at least partially under an overhang 116 in the
surface of the motorized wheel hub 110 to thereby secure the
motorized wheel hub 110 between the attachment portions 112 of the
plurality of spokes 108. The overhang 116 may be shaped to receive
and secure under compression the attachment portion 112 of the
respective wheel spoke 108. The attachment portion 112 may also be
directionally oriented such that the attachment portion 112 is
inserted at a particular angle then rotated to be locked into the
recess 114. The attachment portion 112 thereby remains secured
within the recess 114 even if the proper tension no longer remains
on the spoke 108.
[0670] With reference to FIGS. 1F-1H alternative embodiments of
connections between the wheel rim 104 and the motorized wheel hub
110 are schematically illustrated. The spokes 108 may have first
ends, referred to as the rim ends 113, that extend from the wheel
rim 104, and the second ends that attach to the motorized hub 110,
being an attachment end 112a, 112b, 112c. The attachment ends 112a,
112b, 112c may be shaped in the form of a `T` (FIG. 1F), `J` (FIG.
1G), `L`, rounded, or otherwise enlarged head shape (FIG. 1H),
relative to the diameter of a neck 115 of the spoke.
[0671] The attachment ends 112a, 112b, 112c fit into a recess 114
in the surface of the motorized wheel hub 110 wherein the recess
114 has the complementary shape to receive the respective
attachment ends, to thereby secure the motorized wheel hub 110 to
the plurality of spokes 108. The internal portion of each recess
114 extends toward the wheel rim 104 in a radial direction, to
thereby form a lip 120. The lip 120 and the recess 114 trap and
secure the respective attachment ends 112a, 112b, 112c in the
recess 114 as the plurality of spokes 108, under tension, are
pulled toward the wheel rim 104.
[0672] With reference to FIG. 1I, embodiments of an attachment end
of the spoke illustrates the attachment end 112a being seated in
the pocket 114. The attachment end 112a is received into the
"T-shaped" pocket 114--generally downward into the plane of the
page. After fitting into the pocket 114, the spoke is tightened and
the neck 115 is pulled toward the rim (indicated schematically by
arrow "A".) This results in the attachment end being seated within
the deepest portion of pocket 114.
[0673] The plurality of spokes 108 may include a first set of
spokes and a second set of spokes. The attachment sections of a
first set of spokes 108 connect to a first side of the motorized
wheel hub 110 and the attachment sections of the second set of
spokes 108 connect to the surface of a second side of the motorized
wheel hub 110. The ends of the plurality of spokes 108 of the first
set may be interleaved with the ends of the plurality of spokes 108
of the second set and the interleaved sets alternately connected
around an inner circumference of the wheel rim 104 such that the
spokes are interlaced, i.e, woven around each other.
[0674] In embodiments, the motorized wheel hub 110 is connected to
the wheel rim 104 via a mesh material.
[0675] In embodiments, the motorized wheel hub 110 is connected to
the wheel rim 104 via a disk, or other solid structure.
[0676] In embodiments, the wheel rim 104 and motorized wheel hub
110 can alternately be connected according to conventional straight
wheel spoking parameters.
[0677] With reference to FIG. 2A, the motorized wheel hub 110 can
include a modular systems package 202 packaged within a hub shell
assembly 111 (FIG. 1A) to enclose elements of the electrically
motorized wheel 100. As such, the modular systems package 202 may
be completely contained within the hub shell assembly 111 and
protected from external environmental conditions. In embodiments,
components of the modular systems package may include
sub-assemblies, sub-systems, components, modules and the like that
may be adapted to be removed and replaced, while other sub-systems,
components and modules remain in place. For example, interfaces
between the various elements may be adapted to facilitate ease of
connection and disconnection of the elements during assembly of the
modular systems package 202 or in the field. These interfaces may
include various conventional electrical, mechanical and data
connectors, ports, adaptors, gateways, buses, conduits, cables, and
the like. References in this disclosure to the components of the
modular systems package 202 should be understood to include any of
the referenced items, except where context indicates otherwise.
[0678] In embodiments, a coating material may be applied to the
modular systems package 202 and/or its components to protect
against environmental conditions, such as moisture, dust, dirt and
debris that may penetrate the hub shell assembly 111. The coating
material may conform to the hub shell assembly and/or to individual
components to encase or otherwise coat the coated components. The
coating material may also protect the internal components from
impact.
[0679] The modular system package 202 may include a motor 204, a
motor control system 208, an electrical storage system, such as a
battery system 210, a mechanical drive system 212, a control system
214, and accessory port 218, which may include a hardware interface
232, such as a port (e.g., a USB port) to provide support for an
accessory device, such as providing electrical power and/or a data
connection to the accessory device. The accessory port 218 may be
in communication with the battery system 210 to receive power and
be in communication with the control system 214. The accessory port
218 may include a short range wireless communications system 220, a
telecommunications system 222, a global positioning system 224, an
interface for a removable data storage device 228 (such as a USB
storage device), and/or other components.
[0680] The mechanical drive system 212 may include a pulley, chain,
drive shaft or other interface to transmit a rotational input by a
user. It should be understood that various interfaces may be
provided. If the electrically motorized wheeled vehicle is a
bicycle, it may also include a wheel hub gear system 234, or
sprocket, connected to the motor 204.
[0681] The control system 214 may include one or more processing
systems such as micro-processors, CPUs, application specific
integrated circuits, field programmable gate arrays, computers
(including operating system, CPU, storage and other components,
possibly include a hypervisor or other component for virtualization
of functions. The processing systems may be configured to
communicate with and control the motor control system 208 and the
battery system 210, as described in detail elsewhere herein, such
as to implement various operational modes, features and the like.
The control system 214, may be referred to in some cases as a
computing system or as a control system, may further be configured
to provide and manage various communications and networking
functions communicate with and control the telecommunications
system 222, the short range wireless communications system 220, the
global positioning system 224, the removable data storage device
228, various networking systems (e.g., cellular, satellite and
internet protocol-based networks) and others.
[0682] The telecommunications system 222 and the global positioning
system 224 may include a global positioning system (GPS) unit 224
or other location positioning technologies (e.g., using
triangulation by cellular tower locations, accessing a database of
locations of installed devices, such as wireless access points or
infrastructure elements 252 (e.g., call boxes and traffic lights),
or the like) that provide location and time data. The
telecommunications system 222 can provide access to mobile,
cellular, Wi-Fi data networks and others. In embodiments, the
telecommunications system 222 includes a general packet radio
service (GPRS) unit or other wireless technology that can provide
access to 2G, 3G, LTE and other cellular communications systems or
other modes of wireless communications. In embodiments, the
telecommunications system 222 and the global positioning system 224
may be integrated within the control system 214.
[0683] The control system 214 may include processing capabilities
for handling the collection of data from various sources, such as
sensors, external data sources, external systems (e.g., traffic,
weather, and other systems that provide data about the environment
of the user and systems that provide data about other wheels, such
as fleet management or other aggregate-based information), user
input to user interfaces, and others. Processing data may include
receiving, translating, transforming, storing, extracting, loading,
and otherwise performing operations on the data. Processing may
include performing computations and calculations, executing
algorithms based on inputs, and providing results, such as to other
processing elements of the wheel, to users, to external systems,
and the like. Processing may include modules for handling storage
systems that are local to the wheel or that are remote, such as
cloud storage or storage on a mobile device. Processing may also
include handling various interfaces, including managing data and
electrical interfaces, such as interfaces with a user interface on
the wheel, a user interface of a device, such as a mobile device,
that is used to control the wheel, interfaces to storage systems,
interfaces to databases, and interfaces to external systems. The
interfaces may include application-programming interfaces,
including ones that enable machine-to-machine connections to
external systems, to control devices, and to other wheels.
[0684] The battery system 210 can include one or more rechargeable
batteries, one or more bulk capacitors (optionally including one or
more super-capacitors), and/or a combination thereof. The battery
system 210 can be configured as a single, removable contoured
battery assembly 1352. The battery system 210 may have, or be
associated with, a battery management system 254, which may be part
of, or in data communication with, the control system 214, to
collect data related to the operating state of the battery system
210 (e.g., temperature, state of charge, voltage levels, current
levels and the like) and to enable management of the wheel,
including operating modes of the battery system 210. The battery
system 210 may be configured as multiple, removable battery
assemblies, which can be controlled from individual battery
management systems, or a central battery management system. It
should be understood that the battery system 210 may be of various
forms such as fuel cells, capacitors, etc.
[0685] The accessory port 218 may include various hardware
interfaces 232, such as ports that support devices that use such
protocols as USB, USB 2.0, Thunderbolt, Dicom, PCI Express, NVMe,
NFC, Bluetooth, Wifi, etc. Software, firmware, or the like may be
handled by the control system 214 to enable communication according
to such protocols. The plurality of accessory ports 218 may, for
example, accommodate a respective plurality of sensors. In various
embodiments the sensors may be in direct data and/or electrical
communication with the control system 214 or may be connected
through a facility such as a gateway (such as enabled by a mobile
device), network interface, switch, router, or other communications
network facility. That is, sensors may be local to the wheel 100,
vehicle or may be remote sensors in data communication with the
wheel, such as associated with a mobile device that is used to
control the wheel or an entirely external system.
[0686] The plurality of sensors may include environmental sensors
246 that are operable to measure environmental attributes such as
temperature, humidity, wind speed and direction, barometric
pressure, elevation, air quality (including particulate levels and
levels of specific pollutants, among others), the presence of
chemicals, molecules, compounds, and the like (such as carbon
dioxide, nitrogen, ozone, oxygen, sulfur and others), radiation
levels, noise levels, signal levels (e.g., GPS signal strength,
wireless network signal levels, radio frequency signals, and the
like), and many others. Sensors may thus sense various physical,
chemical, electrical, and other parameters.
[0687] The plurality of sensors may also include sensors operable
to measure various properties and parameters related to the wheel
and elements of the wheel, such as wheel rotation velocity, angular
momentum, speed and direction (forward and backward), acceleration,
sensors to measure force applied to mechanical components and
structures of the vehicle (such as handles, pedals, the frame, the
handlebars, the fork, the seat), such as to sense forces, weight,
strain, stress, sources and direction of force, increases and
reductions in force, and others.
[0688] In embodiments, forces are sensed with respect to user
input, such as the strength and direction of pedaling or braking by
a bicycle user, using a hand brake or throttle on various kinds of
vehicle, pushing one or more ring handles of a wheelchair, pushing
on handles of a wheelbarrow, pulling on a handle of a wagon, or the
like. For example, a torque sensor 238 may sense torque from
pedaling input by a bicycle user, data from which may be related to
the control unit 214, which may control the motor control system
208 of the wheel, such as moving the wheel faster as the user
pedals faster. The plurality of sensors can include sensors for
sensing fields and signals, such as radio frequency (RF), RADAR,
SONAR, IR, Bluetooth, RFID, cellular, Wi-Fi, electrical fields,
magnetic fields, and others. For example, such sensors can provide
functions to a vehicle that is provided with a sensor-enabled wheel
100, such as RADAR detection, communications detection, proximity
detection, object detection, collision detection, detection of
humans or animals, and others. The accessory port 218 may also
support supplemental hardware 248 such as the introduction of one
or more accessory devices such as a gyroscope, lighting systems
(including headlights, taillights, brake lights, and the like),
audio systems (e.g., with speakers), supplemental memory systems,
USB-based accessories (e.g., charging systems for mobile devices),
security or anti-theft devices, and many others.
[0689] With reference to FIG. 2B, a schematic of embodiments of the
motorized vehicle, in embodiments, includes elements of the
motorized wheel hub 110 enclosed in the hub shell assembly 111. In
operation, a user provides an input force delivered to a physical
interface of the mechanical drive system 212 (such as a pedal,
handle, or the like). In a bicycle type vehicle environment, a
pedal and chain or belt drive the mechanical drive system 212.
Other embodiments are described in connection with FIGS. 6-8.
[0690] The sensor system may include a force sensor 238, such as a
torque sensor, that senses a force, such as the torque applied by
the user to the mechanical drive system 212 for subsequent
communication to the control system 214. As described later, this
torque or other force may be sensed in other connected structures.
The control system 214 may be or include a microprocessor, CPU,
general computing device, or any other device that is capable of
executing instructions on a computer readable medium.
[0691] The control system 214 may also receive data from other
sources, such as an accelerometer 242, an orientation sensor 244
and/or other such sensors, either directly (such as through a
direct connection to a sensor), or through a network connection or
gateway, an API, or through an accessory port 218 (such as enabling
access to the sensors of accessories, peripherals or external
systems that connect to the wheel through the accessory port 218).
Based on the calculation of, for example, sensed torque,
acceleration, motion, orientation, etc., the control system 214
determines if power should be applied to a motor 204 through a
motor control system 208 to cause acceleration or deceleration of
the wheel rim 104. Deceleration may be effectuated by application
of power to the motor to generate a rotational force opposite that
of the current rotation, or by reducing the level of rotational
force in the same direction, such as in cases where the effects of
gravity, friction, wind resistance, or the like are enough to
induce deceleration on the vehicle in the absence of continued
levels of rotational force.
[0692] The control system 214 may include one or more accessory
devices, peripherals, or external systems in communication
therewith. Such accessory devices may include, various sensors,
such as environmental sensors 246, and other sensors 247 which may
sense various physical parameters of the environment, in connection
with the description of supplemental hardware 248 and
infrastructure elements 232. The control system 214 may process
data collected and received from the various sources and channels
described throughout this disclosure, such as from the
environmental sensors 246, other sensors 247, external devices, a
mobile device, a supplemental hardware device 248, one or more APIs
for external systems 250, through various networking channels, such
as from servers, distributed storage systems, and the cloud, from
force sensors, from user interface elements on the wheel, etc. The
control system 214 may store data, such as in local memory
associated with the CPU of the control system 214, a separate data
storage system, a removable data storage system 228, a server-based
data storage system, and a cloud-based storage system. The control
system 214 may communicate the data as required to the motor
controller, and to the various other systems with respect to which
it is in data communication as noted above (e.g., the accessories,
sensors, peripherals, servers, storage systems, mobile devices and
the like). In embodiments, and as described in more detail below,
this may include communication of messages to the user through
tactile input, such as a vibration, resistance, or the like,
delivered to the user via the mechanical drive system 212. Data may
include location data, such as from a GPS unit 224.
[0693] The motorized wheel hub 110 may also communicate wirelessly
with other elements outside of the hub shell assembly 111 via a
communication system such as a telecommunication system 222, a
wireless LAN system 223, and/or a short range wireless system 220
that, for example, may be a Bluetooth system, an RFID system, an IR
system, or the like. Also, other transceivers 226 may be used to
communicate with any elements outside of housing 11. Communications
may be undertaken using various networking protocols (e.g., IP,
TCP/IP, and the like), by application programming interfaces, by
machine-to-machine interfaces, and the like.
[0694] The telecommunication system 222 may be a cellular mobile
communication transceiver, which can communicate with mobile
devices, servers, or other processing devices that communicate via
a cellular network.
[0695] The wireless LAN transceiver 223 can communicate with
various hosts, servers and other processing equipment through the
Internet, such as to servers and cloud computing resources, such as
when the motorized wheel hub 110 is within a wireless LAN area,
such as near an access point, switch, router, base station, Wifi
hot spot, or the like. This may facilitate the upload and download
of data, such as new software or firmware to any of the modular
components to update the various capabilities of the wheel.
[0696] The short-range wireless system 220 may facilitate
communication of the motorized wheel hub 110 either directly to an
external system, a server, a cloud resource, or the like, or may
facilitate communication via a mobile device 230 not mounted to the
motorized wheel hub 110, which may serve as a gateway or bridge for
communications between the motorized wheel hub 110 and such
external systems, servers, cloud resources, or the like. The mobile
device 230 may comprise any element or system external to the
motorized wheel hub 110 that can include a data communication
interface to the motorized wheel hub 110, such as a smart mobile
device, tablet, wireless appliance or the like. The mobile device
230 may include an application, menu, user interface, or the like
that is adapted to control the wheel, or one or more functions or
features of the wheel, such as displaying data from the wheel, data
from sensors, or the like, selecting modes of control or operation
of the wheel, providing navigation and other instructions in
connection with use of the wheel, and many other capabilities
described in more detail throughout this disclosure.
[0697] With reference to FIG. 3, the electrically motorized wheel
100 may be configured and/or controlled via the mobile device 230
which may include a microprocessor 302 a low battery light 304, a
display 308 which may include a touchscreen, a physical button 310,
a short range wireless communications system 312 such as wireless
USB, Bluetooth, IEEE 802.11 and others, and a connection status
light 314, a telecommunications system unit 318 such as a general
packet radio service (GPRS) unit that can provide access to 2G and
3G cellular communications systems or other types of 2G, 3G and 4G
telecommunications systems, an audio speaker 320, an warning light
322 and others.
[0698] The mobile device 230 is operable to wirelessly communicate
with the electrically motorized wheel 100, such as via the
short-range wireless communications systems 312, 220. The mobile
device 230 may be operable to access, receive and display various
types of data collected by sensors such as delivered through the
accessory port 218 of the electrically motorized wheel 100 or by
other data collection capabilities described herein, and in
embodiments may be used to configure the data collection processes.
For example, the mobile device 230 can be utilized to remotely
configure the control system 214 and sensor systems of the
electrically motorized wheel 100 to collect various types of data,
such as environmental, location and wheel status data.
[0699] The mobile device 230 can also be utilized as an
authentication key to unlock at least one feature of the wheel. For
instance, as an owner of the wheel, the mobile device can be
authenticated with the owner certificate of the wheel, which would
enable that owner to modify wheel settings. Mobile devices owned by
non-owners can be used to unlock the same, or different features of
the wheel. That is, a non-owner may be restricted from certain
features.
[0700] The mobile device 230 can also be utilized to select and/or
control operational modes of the electrically motorized wheel 100.
For example, a user can remotely configure the electrically
motorized wheel 100 via the mobile device 230 to operate according
to one of a multiple of predefined modes. Alternatively, or in
addition thereto, the mobile device 230 may be utilized as an
interface to set or modify operational parameters of a control
algorithm during operation of the electrically motorized wheel 100,
thereby creating "new," e.g., user tailored operational modes.
[0701] The mobile device 230 may also be configured to download new
operational modes, applications and behaviors to control the
electrically motorized wheel 100. The mobile device 230 may also be
configured as a game console for gaming applications, provide a
display for data updates from the electrically motorized wheel 100,
operate as an interface to a fleet management system, and
others.
[0702] In embodiments the electrically motorized wheel may have a
sensor system to sense applied force, vehicle movement, and other
data. Sensors may include ones for sensing torque applied to
electrically motorized wheel, sensors for measuring wheel rotation
velocity, speed and direction (forward or backward), sensors to
measure force applied to vehicle handles, sensors on wheel fork to
sense source/direction of force reduction, and others. The detected
forces and torque may be used to manage energy generation, capture,
storage and delivery based on torque detected. User input may be
applied to the electrically motorized wheel using pedals on a
bicycle or tricycle or a ring handle for a wheelchair.
[0703] With reference to FIG. 4A, a torque sensor system 238 for an
electrically motorized wheel 100 is constructed and arranged to
measure a user torque applied to electrically motorized wheel hub
gear system 234. In embodiments, the torque sensor system 238 is
constructed and arranged to measure a rotational velocity of
electrically motorized wheel hub gear system 234. The torque sensor
system 238 includes an inner sleeve secured to electrically
motorized wheel hub gear system such as via welding such that the
inner sleeve 240 rotates with the electrically motorized wheel hub
gear system 234.
[0704] In embodiments, the torque sensor system 234 further
includes a proximity sensor 244 on the inner or outer sleeve 240,
242 so that the lateral displacement LD between the inner and outer
sleeve 240, 242 can be measured.
[0705] In embodiments, an interaction between the inner sleeve 240
and the outer sleeve 242 results in a lateral displacement of the
inner sleeve 240 with respect to the outer sleeve 242 such that a
torque applied by a user is obtained from the lateral displacement
such as via a proximity sensor 244. In other embodiments, the
torque sensor system 238 includes a displacement sensor 248 with a
spring/elastomer and a pressure sensor located on the outer sleeve
242.
[0706] In embodiments, the rotation of the inner sleeve 240 causes
a ramp of the inner sleeve to ride up or down a ramp of the outer
sleeve 242. The inner and outer sleeves 240, 242 include opposing
ramps 248a, 248b, which can affect a lateral displacement ("LD")
between the inner sleeve 240 and the outer sleeve 242. For example,
when a torque is applied to one of the inner sleeve 240 and outer
sleeve 242, the inner sleeve 240 can rotate R in a clockwise or
counterclockwise direction with respect to the outer sleeve 242.
The rotation R of the inner sleeve 240 causes the ramp 248a of the
inner sleeve 240 to ride up or down the ramp 248b of the outer
sleeve 240. Accordingly, the rotation R of the inner sleeve 240 can
affect the lateral displacement LD between the inner sleeve 240 and
the outer sleeve 242. That is, as the ramp 248a of the inner sleeve
240 rides up the ramp 242b of the outer sleeve 242, the lateral
displacement LD between the inner and outer sleeves 240, 242
increases, and as the ramp 248a of the inner sleeve 240 rides down
the ramp 248b of the outer sleeve 242, the lateral displacement LD
between the inner and outer sleeves 240, 242 decreases.
[0707] In other embodiments a velocity sensor 250 includes a
plurality of magnets provided in an alternating magnetic pole
configuration on an outer surface of the inner sleeve 240 and a
Hall Effect sensor. In embodiments, the spring/elastomer mechanism
being provided in a cylindrical housing of the outer sleeve 242,
and configured to provide a gap region so that a notch of the inner
sleeve 240 can be positioned in the gap region.
[0708] The inner sleeve 240 can be provided with a notch 251 that
can interface with a spring/elastomer mechanism 260 (FIG. 4D). The
spring/elastomer mechanism 260 applies a known force (i.e., by way
of a known spring constant) on the inner sleeve 240 via the notch
251 of the inner sleeve 240. Accordingly, a torque applied to one
of the inner and outer sleeves 240, 242 can be calculated from a
combination of a measured lateral displacement LD and a known force
applied to the notch of the inner sleeve 240.
[0709] The torque sensor system 238 illustrated in FIG. 4B operates
in a similar manner as the torque sensor system 238 illustrated in
FIG. 4A; however, the proximity sensor 244 of the torque sensor
system 238 illustrated in FIG. 4A is replaced with a displacement
sensor 252 with a spring/elastomer 252a and pressure sensor 252b,
or other technologies for measuring distance such as resistive,
capacitive, or other types of distance measurement
technologies.
[0710] With reference to FIG. 4C, a torque sensor system 238 can
alternatively or additionally include a velocity sensor system
including one or more Hall Effect sensors 254 and a plurality of
magnets 258. In embodiments, the magnets 258 are provided in an
alternating configuration on an outer surface of the inner sleeve
240, and spaced apart by a predetermined distance dl. That is, the
magnets 258 provided on the outer surface of the inner sleeve
alternate magnetic poles (e.g., N-S-N-S-N-S). In this manner, a
velocity measurement can be calculated based using a variety of
methods such as, number of magnetic poles measured per unit time,
or time elapsed between magnetic poles, and other principles using
a time-distance relationship.
[0711] With reference to FIG. 4D the spring/elastomer mechanism 260
of a torque sensor system 150 can include first and second
springs/elastomers 262 and pressure sensors 268. The first and
springs/elastomers 262 are provided in a cylindrical housing 270 of
the outer sleeve 242, and are configured to provide a gap region
264 so that the notch 251 of the inner sleeve 240 can provided in
the gap region 264. As described above, the spring/elastomer
mechanism 260 can apply a known force (i.e., by way of a known
spring constant) on the inner sleeve 240 via the notch 251.
[0712] The electrically motorized wheel 100 described above in
connection with FIGS. 1A, 2A and 2B may be used to assist in
powering a variety of human-powered wheeled vehicles such as
bicycles, tricycles, wagons, trailers, wheel barrows, push carts
(e.g., medical carts, carts used in food preparation, food service
and others, delivery carts, carts use to move goods around
warehouses and industrial facilities, etc.), carts used in moving
(e.g., to move furniture, pianos, appliances, and large items),
riding toys, wheeled stretchers, rolling furniture, wheeled
appliances, wheelchairs, strollers, baby carriages, shopping carts
and others.
[0713] In embodiments, such as for bicycles and tricycles, the
electrically motorized wheel 100 may be readily installed by a
customer for converting a vehicle to an electrically motorized
vehicle via installation of the electrically motorized wheel. In
these embodiments the electrically motorized wheel 100 may be
attached to a vehicle using the existing attachment mechanisms.
Embodiments may include a developer kit for adapting the
electrically motorized wheel 100 to the hardware environment of a
specific non-electric vehicle such as a wheelchair, wheelbarrow,
wagon and others.
[0714] The hardware developer kit facilitates attachment of
sensor/peripheral devices to an open serial port of the
electrically motorized wheel 100. This data can then be transmitted
to the mobile device and subsequently to the server for access by
the API. Since the API is accessible, developers may take readings
from the sensor/peripheral devices to thereby expand the
sensing/functionality/features of the electrically motorized wheel
100. Power for the sensor/peripheral devices may be their own power
source or supplied by the electrically motorized wheel 100 either
through a power connection internal to the electrically motorized
wheel 100 or though the power port that permits power to flow in
either direction--in from a charger or out to an external device if
desired.
[0715] The electrically motorized wheel 100 may be used to provide
additional motive force and braking to various types of otherwise
human only powered vehicles. Thus, an entire vehicle may be sold as
an integrated product, including an appropriately designed
electrically motorized wheel 100.
[0716] With reference to FIG. 5 the electrically motorized wheel
100 may be purchased and serviced at a traditional brick and mortar
store 402 such as a bicycle store, a hardware store, a store
specializing in the vehicle to which electrically motorized wheel
100 is attached and others, or by electronic commerce. Thus, an
electrically motorized wheel 100 may be provided as an individual
element that can be attached to any generic vehicle, or it may be
adapted for use with a wheel of a particular vehicle. For example,
many bicycles have unique design features, colors, branding
elements, or the like that can be matched, or complemented, by
providing a electrically motorized wheel 100 that has appropriately
related aesthetic features.
[0717] In embodiments, additional hardware and software
accessories, applications, and other features may be purchased
either at traditional brick and mortar stores 402, online stores
404, mobile app stores, and others. For example, a electrically
motorized wheel 100 may be provided with a unique identifier, such
as a serial number stored in memory, which can be used as an
identifier of the electrically motorized wheel 100, the user, or
the vehicle on which the electrically motorized wheel 100 is
installed, for purposes of various applications, including
navigation applications, applications measuring exercise, traffic
reporting applications, pollution-sensing applications, and others.
Such applications may be provided, for example, on a mobile device
that presents user interface elements that include, or that are
derived from, data inputs from electrically motorized wheel.
[0718] In embodiments, data from the electrically motorized wheel
may be uploaded to one or more application data servers 408 on the
server 410 via a wireless communications system 318 in the
motorized wheel hub 110. The communication may include a relatively
short-range wireless system 220 to transmit the data to the mobile
device 230 and thence from the mobile device 230 to the server 410
via the wireless telecommunications system 318. Data may
alternatively or additionally be physically transferred from the
electrically motorized wheel 100 to a local computer 412 via
removable storage media 228 and from the local computer 412 to the
one or more application data servers 408.
[0719] In embodiments a standard interfaces may be provided for
both the software and hardware systems. An accessory port 218 (FIG.
2B) may support standard protocols such as USB, USB 2.0,
Thunderbolt, Dicom, PCI Express and others. These interfaces may
facilitate the support of accessory devices and peripherals such as
environmental sensors, gyroscopes, supplemental memory and others
by providing power to operate the accessory device and an interface
for data transfer between the accessory device and data storage in
the motorized wheel hub 110.
[0720] In embodiments, data exchange may occur using a short-range
wireless system 220 such as wireless USB, Bluetooth, IEEE 802.11
and others. Data exchange may alternatively or additionally be
performed over long-range wireless or telecommunications system 222
such as 2G, 3G, and 4G networks.
[0721] In embodiments an API and/or software development kit
facilitates access to data storage and transfer of data over a
wireless network to a computer on a network, integration of sensor
data with other data collected simultaneously, use of processing
and reporting functions of the sensor-enabled wheel (e.g.,
reporting energy used, charge status, miles traveled, data from
environmental sensors, user-entered data, or other data), and
others.
[0722] In embodiments, the API and/or software development kit
facilitates software and/or hardware access to the motor control
system 208 of the electrically motorized wheel 100 such as when
power is applied to electrically motorized wheel, when resistance
is applied to electrically motorized wheel, energy regeneration,
power management, access to the sensor data collected, and
others.
[0723] In embodiments, the electrically motorized wheel 100 may be
purchased through a variety of channels including online, specialty
bicycle shops, and others. Further, online stores 404 may provide
for purchase of "applications" or "behaviors" that leverage the
hardware and software APIs to provide unique user experiences.
These behaviors may be purchased online and downloaded to the
electrically motorized wheel 100 through a short-range wireless
connection 220 or via a standard hardware interface such as a cable
that plugs into an appropriate port. Applications may include
gaming, fleet management, rental management, environmental sensing
and management, fitness, traffic management, navigation and
mapping, social interface, health management, and others.
[0724] Many vehicles, either individually or those within a common
fleet, may employ the electrically motorized wheel. As the vehicles
are moving around various locations, the electrically motorized
wheel may be utilized to sample the environment. The data collected
can thus be utilized to provide a spatial and temporal indication
of various parameters that are sampled.
[0725] In one example, current temperature data is sampled over the
area covered by the vehicles at the location of each of the
vehicles. As the vehicles move from location to location, a
collection of such data is a representation at different locations
over time. This may be expanded to numerous parameters sampled by
numerous vehicles over time to monitor multi-dimensional phenomena
to facilitate the generation of models that contain multivariate
data, and other scientific uses such as for predicting future
environmental conditions.
[0726] In another example, data may be collected and processed to
profile the user. That is, as the vehicles move from location to
location, a collection of data is generated to indicate how
specific users operate the vehicle. Such data may facilitate
generation of a feedback loop that may be utilized to improve
infrastructure development, (e.g., traffic lights and municipal
networks). The data may also be utilized to indicate to the user,
for example, more efficient operations of the vehicle, e.g.,
recommended mode utilization.
[0727] The data may also be utilized to interact with a
transportation to alert other vehicles such as smart cars to the
presence of the vehicle with the electrically motorized wheel 100
as well as alert the user of the electrically motorized wheel 100
to the presence of the other vehicles.
[0728] The electrically motorized wheel 100 may additionally
support a plurality of sensors that collect and process attributes
related to the vehicle and the electrically motorized wheel 100
itself such as torque applied, velocity, "steadiness" of the
vehicle, acceleration of the vehicle, usage of vehicle including
time, distance, and terrain travelled, motorized assistance
provided, available battery power, motor temperature, etc.
[0729] The electrically motorized wheel 100 may also include a data
collection platform for integrating and analyzing the data
collected by the plurality of sensors. In embodiments, the
collected data may be integrated with data from a plurality of
other electrically motorized wheels 100 as well as data from
3.sup.rd party sources such as traffic data systems, geographical
information systems (GIS) databases, traffic cameras, road sensors,
air quality monitoring systems, emergency response systems, mapping
systems, aerial mapping data, satellite systems, weather systems,
and many others.
[0730] This combined data may then be integrated and analyzed
onboard the electrically motorized wheel 100, off board the
electrically motorized wheel 100, or a combination thereof. Such
combined data leverages the sensor data collected by the plurality
of vehicles traversing a relatively large geographic area and
correlates the terrain traversed to time. This readily facilitates
determination of a variety of insights as the plurality of
electrically motorized wheels 100 essentially operate as
distributed sensor network to provide sensor data for aggregation
and interpretation. For example, the plurality of wheels, or a
specific subset thereof, may be viewed in the aggregate to
determine the best bicycling routes through a city, to promote the
collective health of users (such as by routing away from areas with
low air quality), and the like.
[0731] In embodiments, the telecommunications system and the global
positional system may transmit data and/or communicate with
infrastructure, other vehicles, or non-infrastructure entities in
the surrounding environment. This data transfer or communication
can alert the vehicles of a potential collision, cause traffic
lights to switch, etc.
[0732] The data collected from the plurality of electrically
motorized wheels 100 and viewed in the aggregate to may facilitate
the generation of detailed analyses and maps 406. The maps 406 may
be utilized to depict, for example, environmental phenomena that
vary over space and time. This data can be overlaid on existing
street patterns, land use maps, topographical maps, population
density maps and open space maps creating layered maps which may be
accessed through mobile devices or a webpage and which provide an
overview of environmental conditions in real time, as well as
historical data detailing past conditions or predictions of future
conditions.
[0733] These layered maps may be used as a tool with which cities,
businesses, and/or individuals may, for example, monitor
environmental conditions; facilitate determination of future
environmental and traffic policy decisions such as the planning of
new roads and paths; planning of commercial real-estate
development; positioning of new cell towers and network repeaters;
real time traffic analysis; the study of phenomena like urban heat
islands, emergency preparedness; noise and environmental pollution;
and when planning the least polluted routes through cities.
[0734] For example, data collected relative to wind speed and
direction may be used to understand airflow through a city and used
to map the impact of a dirty bomb and how it might disperse through
a city. Data collected relative to signal strength and traffic
patterns may be utilized to facilitate wireless companies in
decisions regarding the placement of new cell towers. Temperature
data collected over time may lead to the creation of urban gardens
to ameliorate urban heat islands. Data related to global position
and elevation may be used to provide ground truth for existing
maps. Data related to traffic patterns may be used in planning of
new commercial locations and store layouts. For example, bar graphs
407 may be overlaid onto a street map 406 to indicate high traffic
areas, slow commute areas, high pollutant conditions, etc.
[0735] Aggregated data may also be used to facilitate improved
real-time navigation, adjust real-time traffic patterns, divert
bicycle traffic to other areas of the city, etc.
[0736] In embodiments, a multi-user game system permits users of
vehicles having one or more electrically motorized wheels 100 to
exchange data such as location, distance, torque applied, effort
expended, distance travelled, total change in elevation, calories
burned, heart rate elevation, environmental data collected and
others.
[0737] In one example, a remote racing game may leverage the
control systems of the individual electrically motorized wheels 100
and the local environmental data to modify the electrically
motorized wheel 100 behavior in conjunction with the local terrain
in such a way that players in different locations experienced a
common effort of attempting to bicycle up a hill while riding
across terrain that varied among players based on location. In
embodiments the ability to modify the electrically motorized wheel
100 behaviors might be used to handicap users of difference skill
levels.
[0738] Embodiments may include achievements, which may be unlocked
after users surpass certain thresholds. For instance, a user could
get a medal after riding 1000 miles. Achievements may include other
distance thresholds, calorie thresholds, number of trips, number of
cities, number of friends, power generated, and others.
[0739] Embodiments may include a system for targeting commercial
opportunities to users wherein the offer is partially based on the
location of the electrically motorized wheel 100. Embodiments may
include a variant on geo-caching where the users visit specified
geographic locations. The data collection system would be
collecting data location and time and users would be able to
compare locations visited and when.
[0740] In embodiments, profiling a user of the electrically
motorized wheel may include assessing a user's current physical
capabilities and monitoring the user's physical capabilities over
time to facilitate identification of trends. Data collected may
include torque applied, distance traversed over time, stability of
electrically motorized wheel 100 and others. It should be
understood that various sensors including heart rate sensors may be
utilized to profile a user operating the electrically motorized
wheel.
[0741] Analysis may be performed to sense changes in mobility
patterns such as frequency, force applied, distance travelled,
steadiness, times of day system accessed and others. Small changes
in these measurements may be used to sense long-term, slowly
developing diseases, such as Parkinson's syndrome, which are
typically difficult to sense because the change in user
capabilities is gradual over an extended period of time. This data
may be provided directly from this system into an electronic
medical record, EMR, or associated with an individual's healthcare
data. The data may be aggregated with data from a plurality of
other electrically motorized wheels 100 to provide data sets for
public health analysis.
[0742] An example, data gathered from the electrically motorized
wheel that facilitates physical therapy is the direct power the
person's legs can output as compared to conventional sensors which
may only measure steps taken and heart rate. The data gathered from
the electrically motorized wheel may thereby be utilized to detect
how the person's leg muscles are changing over time because torque
is directly detected through the torque sensor.
[0743] In embodiments techniques such as collaborative filtering
may be used to sort through different options, then suggest to one
user options used by other users that are determined to be most
similar to that user. Statistical techniques for sensing similarity
may be performed, based on correlations, e.g., based on matrices of
the "distances" between users with respect to various defined
attributes that can be measured or derived based on the data
collected by electrically motorized wheel or entered by the user.
Thus, users who are similar to each other may be presented with
similar applications, user interfaces, drive modes, navigation
options, and others. For example, two users who regularly ride
similar routes may be utilized to identify that one route is
substantially faster given similar exertion/less hilly/fewer
stops/intersections, etc. Such route comparison may be utilized to
suggest a different route to the user of the slower route
[0744] In an embodiment, data may be collected from a fleet of
vehicles such as delivery vehicles, messenger services and others.
Data collected may be analyzed and synthesized to facilitate a
dispatcher in optimizing routes, schedules, estimating deliver
times and others based on user fitness levels, terrain covered
during current excursion including mileage, elevation change, level
of assistance already provided, remaining battery life, current
location, and terrain along proposed routes and others.
[0745] Data aggregated from public or private fleets may be
analyzed to determine when bicycles need to be taken in for
service, where bike racks should be located, where charging
stations should be located, how many bicycles are in service at any
given time, and other useful scenarios.
[0746] In embodiments, the electrically motorized wheel 100 may be
installed on store shopping carts. The electrically motorized wheel
100 may assistance shopper shoppers needing additional assistance,
for specialized large, heavier carts such as those adapted for
shopping with children, as the cart increases in weight, and
others. The data collected may include aisles traversed, time spent
in which aisles, where along the aisle vehicle stop, and other such
data. This data may be used to map the traffic flow through a store
to facilitate planning for product placement, improved store layout
and others.
[0747] In embodiments, the hardware API may facilitate hardware
plug-ins to further modify the performance of the vehicle on which
the electrically motorized wheel 100 is mounted. That is, the
hardware plug-ins may include options, upgrades or other selectable
accessory devices that each particular user may select and readily
install, i.e., "plug-in" to their electrically motorized wheel
100.
[0748] In embodiments, the hardware plug-in may be a gyroscopic
sensor that plugs into an electrically motorized wheel 100 on a
bicycle to facilitate the performance of "wheelies" or other
tricks. The gyroscopic sensor may be used to determine the
orientation of electrically motorized wheeled vehicle. Several
gyroscopic sensors may be used to determine the orientation of the
vehicle in several dimensions. If these are monitored over a period
of time, the stability of the vehicle may be determined.
[0749] Data from the hardware interface may be processed by the
mobile device 230 (FIG. 3), and/or transmitted via the mobile
device 230 to a server for processing. Data from the hardware
interface may alternatively or additionally communicate directly
from the electrically motorized wheel to a server using long-range
wireless or telecommunications system such as 2G, 3G, and 4G
networks. Further, the processed data may be communicated back to
the electrically motorized wheeled vehicle to form a feedback loop
to facilitate operation of the electrically motorized wheeled
vehicle, each vehicle within a fleet, and/or other electrically
motorized wheeled vehicles that may benefit from the collected
data.
[0750] The accessory port 218 may support one or more sensors that
are operable to measure environmental attributes such as
temperature, humidity, wind speed and direction, barometric
pressure, elevation, air quality, the presence of chemicals such as
carbon dioxide, nitrogen, ozone, sulfur and others, radiation
levels, noise levels, GPS signal strength, wireless network signal
levels and others. The data collected by the sensors may be stored
locally on the electrically motorized wheel or transmitted
wirelessly to a remote system such as a network computer. Data
stored locally on the electrically motorized wheel may later be
transmitted wirelessly or otherwise transferred from the
electrically motorized wheel to one or more application data
servers 408. The data collected by the sensors may be stored in
conjunction with additional contextual data such as the date and
time data was collected, the GPS location associated with
particular data, other data collected at the same time, date,
location and others.
[0751] In embodiments the electrically motorized wheel 100 may be
equipped with a system to alert users of objects in close
proximity, thus enhancing user safety. In embodiments, the system
may utilize the accessory port 218 to support a proximity sensor
such as an optical sensor, an electromagnetic proximity-sensing
detector, or the like. The proximity sensors facilitate detection
of objects that approach the vehicle on which the electrically
motorized wheel 100 is mounted, such as from behind or from the
side, then display data or warnings on the mobile device 230.
[0752] The proximity of an object which is detected by the
proximity sensor may be used to trigger automated actions as well,
including decreasing speed, electronic braking, increasing speed,
or triggering actions to connected peripheral devices, such as
headlights, blinkers, hazard lights, personal electronic devices,
bells, alarms, protective equipment, and others.
[0753] Proximity sensors may be mounted within the motorized wheel
hub 110 adjacent to a window that allows an optical beam, an
electromagnetic beam, or such transmission to pass through a static
portion of the hub shell assembly 111. Alternatively, RADAR, SONAR
or other beams may pass directly through the hub shell assembly
111.
[0754] The proximity sensors may communicate with the mobile device
230 to provide an alert to the user when an object is detected
within a certain threshold distance. This alert may be conveyed
using one or more of audible, visible, and tactile methods. This
alert may be incorporated into the electrically motorized wheel 100
such as by shaking the vehicle or communicated to another device
mounted elsewhere on the vehicle such as the mobile device 230, a
GPS unit, a smart mobile device, tablet or the like. The proximity
data may be transmitted using short-range wireless technologies
such as wireless USB, BlueTooth, IEEE 802.11 and others.
[0755] With reference to FIG. 6A, another disclosed embodiment of
an electrically motorized wheel is illustrated herein as a
wheelchair 600 retrofitted with at least two electrically motorized
wheels 620 that are daisy chained one to another. Although this
embodiment has specific illustrated components in a wheelchair
embodiment, the embodiments of this disclosure are not limited to
those particular combinations and it is possible to use some of the
components or features from any of the embodiments in combination
with features or components from any of the other embodiments.
[0756] The electrically motorized wheel 620 includes a multiple of
motorized wheel hubs 610 comparable to those described above but
these electrically motorized wheels 620 are daisy changed together.
"Daisy chained," as described herein, indicates operation of the
plurality of electrically motorized wheel 620 in concert, serial,
parallel or other coordination. That is, the multiple of motorized
wheel hubs 610 may communicate one to another in a "daisy chain" or
other distributed interparty communication, and/or may be
individually controlled directly but with regard to others.
[0757] A plurality of electrically motorized wheels 620 may be
daisy changed together via a daisy chain protocol operable on the
control system 214. The daisy chain protocol may be software
resident on the control system 214 or may be effectuated via a
hardware device that plugs into each of the plurality of
electrically motorized wheels 620 to coordinate operation of the
plurality of electrically motorized wheels and thereby facilitate
operation of the vehicle. For example, should a user input be
communicated to one electrically motorized wheel 620 the other
electrically motorized wheel 620 daisy chained thereto may rotate
in an opposite direction to perform a pivot-in-place of the vehicle
to which the daisy chained wheels are installed. It should be
understood that although a wheelchair is illustrated, various other
vehicles may utilize daisy chained electrically motorized
wheels.
[0758] For example, power can be shared between daisy chained
wheels through a wired interconnection. Adjustments may be
performed locally on each wheel but may be compensated
appropriately and smoothly in another daisy chained wheel.
Alternatively, adjustments could also be made in parallel.
[0759] For example, wheels may be daisy-chained by different
firmware and a cable that ties all the CAN interfaces together. The
firmware could have one of the wheels be a central controller
communicating with all the other wheels. Alternatively, control
could be distributed, each wheel determining its own command but
in-part based on the commands of the other wheels. It is also
possible to add an external controller that performs coordination
of the wheel command. For example, a plug may be connected to an
accessory port in each of the wheels to be daisy chained.
[0760] Power may flow either in or out of the power port. The
direction of flow is based upon what is connected, e.g., a charger
will push current in, and a load will draw current out. The battery
management system controls when the power port is open. For
example, the power port opens when it detects a charge or when
directed by the main wheel electronics, which thereby permits an
external device to be powered. For example, a rider may connect an
external device that needs power, and use an app to command the
power port to turn on.
[0761] With reference to FIG. 6B, one or more forces are applied
(f.sub.a) to electrically motorized wheeled vehicle that pass
through the rigid body to a axles 608 upon which the electrically
motorized wheels 620 are mounted. The forces provided to the
vehicle (f.sub.a) should be absorbed into the translational motion
of the vehicle and the rotational motion of the electrically
motorized wheel 620.
[0762] For force analyses purposes, the electrically motorized
wheelchair 600 is assumed to be a rigid body. The force of earth
(f.sub.e) presents an equal and opposite reactionary force where
the tire 602 meets the ground. This reactionary force is exerted
onto electrically motorized wheel tangentially at a distance R
equal to the radius of the electrically motorized wheel 620 from
the axle 608 causing a rotational applied torque (T.sub.a) on
electrically motorized wheel in a forward rotational direction
equal to T.sub.a=f.sub.eR. There is a frictional force (f.sub.f)
exerted between the axle 608 and bearings 618 that resists motion.
(This represents the frictional force for all wheels on the
vehicle.) The frictional force (f.sub.f) at the bearings 618 causes
a frictional torque of t.sub.f=f.sub.fr resisting rotation. This
torque (t.sub.f) can be replaced by an equivalent torque of a force
(F.sub.f) applied at a radius R. Therefore, F.sub.f=-f.sub.f(r/R).
Electrically motorized wheels rotate when the force provided by the
user f.sub.a exceeds the frictional, gravitational (incline)
forces, and aerodynamic forces which are often negligible at wheel
chair speeds.
[0763] The rolling force F.sub.r resisting rotation of the tire 602
is small and may be ignored for these calculations, (as are other
small forces).
[0764] F.sub.i is the amount of force required to push the vehicle
up an inclined angle q.
[0765] The excess force over and above those described above, is
expressed in acceleration of the vehicle, a. The force causing
acceleration of the vehicle is described by the mass of the vehicle
multiplied by the acceleration of the vehicle.
F.sub.acc=ma.
[0766] Therefore, the total force applied to the vehicle fa is used
to overcome the force of friction F.sub.f, the force required to
rolling of the tires F.sub.r, the force to move up an incline
F.sub.i and the force for acceleration F.sub.acc.
f.sub.a=F.sub.f+F.sub.r+F.sub.i+F.sub.acc
f.sub.a=F.sub.f+F.sub.r+tan(q)/mg+ma
[0767] (where q is the angle of incline.)
[0768] Since the force required to roll the tires is assumed
negligible, this term drops out.
f.sub.a=-f.sub.t(r/R)+tan(q)/mg+ma
[0769] When the applied force (f.sub.a) exceeds the force of
friction (F.sub.f), the force of tire rotation (F.sub.r) the force
due to moving up an incline (F.sub.i) it causes acceleration of the
electrically motorized wheel 620 in a forward direction. Therefore,
by knowing the force of friction f.sub.f due to electrically
motorized wheel bearings, the radius r of the bearings, the radius
R of electrically motorized wheel, the mass m of the vehicle and
sensing the angle of incline q and the acceleration a, one may
approximate the user input force f.sub.a. This may then be used as
an input to determine electric power to be provided to the electric
motor in embodiments. Therefore, sensors are required to measure
acceleration, and incline of the vehicle. An estimate is required
for the frictional force and possibly the tire rolling force (to be
more exact). Weight (and therefore mass) could be an initial given
parameter, or it can be a measured parameter.
[0770] The electrically motorized wheel 620 is accelerated when the
user force f.sub.a is applied to the axle 608. This force is
applied to the ends of the axle as the electrically motorized wheel
is mounted between the ends of the axles. If the axle is
accelerated in a forward direction, the translational inertia of
electrically motorized wheel causes electrically motorized wheel to
resist a change in velocity, causing a force on the axle between
the ends opposite the direction of acceleration. This may cause a
slight flexing, bending or displacement of the axle 608
proportional to the force being exerted upon the axle 608. Pressure
may be measured between the axle and the electrically motorized
wheel 620 as an input. A forward acceleration on the ends of the
axle 608 causes electrically motorized wheel to exert a rearward
force of the middle of the axle 608 causing it to flex or bend
slightly to cause the spacing between the axle 608 and electrically
motorized wheel structures to change. Sensing these changes will
assistance the motorized wheel hub 610 in sensing that a user
intends to move electrically motorized wheelchair 600 forward. This
may be used in embodiments for sensing input force applied to the
vehicle f.sub.a. Similarly, stopping the electrically motorized
wheelchair 600 moving at a given speed causes the opposite forces
on the axle 608 indicating that the user intends to slow or stop
electrically motorized wheelchair 600.
[0771] The friction of the bearings (f.sub.f) of a rotating wheel
cause torsion of the axle 608. This torsion may be measured and
used to signal that the user is trying to accelerate forward. A
reduction in this torque, or an opposite torque sensed at the axle
608 would cause the indication that a moving wheelchair 600 should
be slowed or stopped. If the force on electrically motorized
wheelchair 600 is sensed to be in a reverse direction and
electrically motorized wheelchair 600 is moving in a reverse
direction (determined by sensors) then the motorized wheel hub 610
determines that the user intends to accelerate in the reverse
direction. Therefore, the force applied to the vehicle may be
determined.
[0772] By monitoring various motion and acceleration parameters and
the forces/torque applied, outside forces applied to the vehicle
(both positive and negative) may be estimated. The estimated
outside forces are then used to power the electric motor in a
direction in which the vehicle is moving or in a direction opposite
the direction the vehicle is moving, causing a braking effect or
acceleration in a reverse direction.
[0773] In embodiments, the user may also operate the electrically
motorized wheelchair 600 by rotating the electrically motorized
wheels. A ring handle 606 is attached to the motorized wheel hub
610. Typically, a user rotates ring handle 606 to cause
electrically motorized wheelchair to move in one direction or
rotates the ring handle 606 of each wheel in an opposite direction
to cause the electrically motorized wheelchair 600 to pivot. It
should be understood that in this vehicle embodiment, the ring
handle 606 is the user input and, in contrast to a bicycle
embodiment, is typically rotationally fixed rather than mounted via
a freewheel typical of a bicycle. That is, the ring handle 606 is
the mechanical drive system 612 for the electrically motorized
wheel 620.
[0774] In embodiments, the torque sensors 638 are attached between
the electrically motorized wheel 620 and the ring handle 606 to
measure the user input such as a rotation, torque or other input.
Since the ring handle 606 does not freewheel, the user input may be
related to an applied torque. For example, a rim torque transceiver
640 transmits the sensed torque to the motorized wheel hub 610. The
motorized wheel hub 610 then determines which direction the user is
attempting to move and assist in that direction. If the torque
sensors 638 sense that the user is attempting to slow using the
ring handle 606, the motorized wheel hub 610 determines that a
braking force is necessary.
[0775] By causing power to be provided urging the electrically
motorized wheel 620 to drive in a direction opposite that of the
direction currently moving, a braking effect is effectuated.
Various other types of vehicles may provide power in a manner
similar to a wheelchair, such as various types of push carts used
in medical, food service, moving, warehouse and similar
applications, various riding toys, and other applications where
wheeled devices or vehicles are pushed or pulled by human
power.
[0776] With reference to FIGS. 7A and 7B, an example wheelbarrow
700 is retrofitted with an electrically motorized wheel 720.
Although this embodiment has specific illustrated components in for
a wheelbarrow, the embodiments of this disclosure are not limited
to those particular combinations and it is possible to use some of
the components or features from any of the embodiments in
combination with features or components from any of the other
embodiments.
[0777] The electrically motorized wheel 720 includes a multiple of
motorized wheel hubs 710 comparable to those described above but
that are daisy changed together. That is, the plurality of
electrically motorized wheels 720 operate in concert. The motorized
wheel hub 710 rotates around an axle 708 that is fixed relative to
a handle 712 (FIG. 7C).
[0778] The electrically motorized wheelbarrow 700 may have
comparable functionality to that described above with the exception
that the attitude may be determined differently as the electrically
motorized wheelbarrow is typically designed to be tilted when in
operation and level when not being used. Therefore, additional
sensors may be used to determine the tilt relative to the ground
and the inclination of the ground relative to a vertical line
(representing direction of gravity). This can be done by measuring
the distance from the front of the hub to the ground and the back
of the hub to the ground and sensing a difference in distance
between these. The vertical line may be determined by various known
means, such as using gravity. Together these can be used to
determine the incline angle of a hill up which electrically
motorized wheelbarrow is travelling.
[0779] In embodiments, an axle transceiver 715 is utilized to
transmit data from the handle 712 via axle force sensors 714 in
communication with the control system 214. The handle 712 may
alternatively include handle sensors 718 adjacent to the handles
712 to facilitate differentiating whether differential forces
between the axle 708 and wheel hubs 710 is the result of force
applied to one or both handles 712, or, for example, a change in
terrain elevation. Data sensed by handle sensors 718 may be
transmitted via a handle transceiver 719 to the control system 214
which may then determine which direction the user is trying to move
and assistance in that direction.
[0780] For example, were the electrically motorized wheelbarrow 700
be moving while the input from the axle force sensors 714 and the
handle sensors 718 are interpreted to be an attempt to slow the
electrically motorized wheelbarrow 700, the control system 214 may
determine that a braking force is required. Power is then provided
to the motorized wheel hub 710 urging the motorized wheel hub 710
to drive in a direction opposite the direction of movement to cause
a braking effect. This braking effect will facilitate stopping of
the electrically motorized wheelbarrow 700.
[0781] With reference to FIG. 8, in embodiments, a wagon 800 has
installed thereon one or more electrically motorized wheels 820
with a motorized wheel hub 810 comparable to those described above.
Although this embodiment has specific illustrated components in a
wagon embodiment, the embodiments of this disclosure are not
limited to those particular combinations and it is possible to use
some of the components or features from any of the embodiments in
combination with features or components from any of the other
embodiments.
[0782] A user pulls a handle 812 of the wagon 800, which transmits
the pulling force to an undercarriage 809 of the wagon 800 to which
the electrically motorized wheels 820 are mounted.
[0783] Again, the wagon 800 is assumed to be a rigid body, such
that the pulling force applied to the handle 812 is also applied
through the wagon 800 and to axles 808. Each axle 808 and
electrically motorized wheel 820 mounted thereto interact in a
manner comparable to that of the electrically motorized wheelbarrow
700. As indicated, the determination of the force being applied on
the wagon is based upon one or more inputs provided to the control
system of the motorized hub.
[0784] In embodiments, a handle sensor 818 that measures magnitude,
applied direction and applied force at the juncture of the handle
812 and the undercarriage 809. A transceiver 819 coupled to the
handle sensor 818 transmits the force data to a control system 214
of the electrically motorized wheel 820. Based on the received
data, the control system 214 operates to assist, for example,
application of a positive force in the directions of motion, a
braking force applied opposite the direction of motion, and
relative motion such as to facilitate turning.
[0785] Even though the electrically motorized wheel has been
described in connection with retrofitting a wagon, other vehicles
such as a trailer or other wheeled vehicle that are pulled may be
retrofitted in a comparable manner.
[0786] With reference to FIG. 9A, embodiments of an electrically
motorized wheel 900 (FIG. 9B) generally includes a static system
902 (FIG. 9C), a rotating system 904 (FIG. 9D), a battery system
906 (FIG. 9E), an electric motor 908 (FIG. 9F), a mechanical drive
system 910 (FIG. 9G), a sensor system 912 (FIG. 9H), a control
system 914 (FIG. 9H), a hub shell assembly 916 (FIG. 9I), a
multiple of spokes 918, a rim 920, a tire 922, a shaft 924, and a
free hub torque assembly 926 (FIG. 9G). It should be understood
that, although particular systems and components are separately
defined, each, or any, may be otherwise combined or separated via
hardware and/or software except where context indicates otherwise.
Further, although this embodiment has specific illustrated
components in a bicycle embodiment, the embodiments of this
disclosure are not limited to those particular combinations and it
is possible to use some of the components or features from any of
the embodiments in combination with features or components from any
of the other embodiments.
[0787] The static system 902 and the rotating system 904 are
arranged around an axis of rotation A of the electrically motorized
wheel 900, and the static system 902 is coupled to the
non-motorized wheeled vehicle via a torque arm assembly (or via
torque transmitting features designed into the axle) 928 (FIG. 9I)
such that the rotating system 904 is rotatable relate to the static
system 902. The electric motor 908 is selectively operable to
rotate the rotating system 904 relative to the static system 902 to
drive the spokes 918, the rim 920, and tire 922 thereof.
[0788] The mechanical drive system 910 is coupled to the rotational
system 904 to rotate the rotational system 904 in response to an
input applied by the user such as a pedaling input, ring handle of
a wheelchair, pushing of a handle, pulling of a handle, etc. In a
bicycle embodiment, the mechanical drive system 910 may include a
multiple of sprockets for a multi-speed wheel 900A (FIG. 9A, 9B,
10A), often referred to as a "cassette," or a single sprocket for a
single speed wheel 900B (FIG. 10B) that receive a rotational input
from a pedaling input via a chain or belt.
[0789] The sensor system 912 may be operable to identify parameters
indicative of the rotational input, such that the control system
914 in communication with the sensor system 912 is operable to
continuously control the electric motor 908 in response to the
input, such as that induced by a user pedaling. That is, the
control system 914 is in communication with the sensor system 912
to continuously control the electric motor 908 even if the control
momentarily results in no power being exerted by the electric motor
908. The battery system 906 is electrically connected to the
control system 914 and the electric motor 908.
[0790] In embodiments, the battery system 906, the electric motor
908, the mechanical drive system 910, the sensor system 912, and
the control system 914, are contained with the hub shell assembly
916 (FIG. 9I). The hub shell assembly 916 may thereby be a device
readily installed into a non-motorized wheeled vehicle through, for
example, installation onto the spokes or rim of the electrically
motorized wheel to provide an electrically motorized wheeled
vehicle. Alternatively, the hub shell assembly 916 with the
enclosed battery system 906, electric motor 908, mechanical drive
system 910, sensor system 912, and control system 914 may be
preinstalled on the electrically motorized wheel 900 to provide a
self-contained device inclusive of the spokes 918, the rim 920, and
the tire 922, such that an entire wheel of the vehicle is replaced
by the electrically motorized wheel 900. That is, all operable
componentry is on the electrically motorized wheel 900 itself and
is installed as a self-contained device that does not require
further modification of the vehicle.
[0791] With reference to FIG. 9I, the hub shell assembly 916,
according to embodiments, generally includes a drive side shell
940, a non-drive side ring 942, a removable access door 944, a user
interface system 948, and the torque arm assembly 928. The hub
shell assembly 916 is defined around the axis of rotation A defined
by a shaft 924.
[0792] In embodiments, the hub shell assembly 916 contains a
contoured battery assembly 1016 of the battery system 906 that
contains a multiple of battery packs 962 (FIG. 9E) defined as a
ring around the axis "A." The battery system 906 in embodiments is
rotationally stationary, however, the battery system 906 may,
alternatively rotate within the hub shell assembly 916. It should
be understood that various shaped battery packs, e.g., linear,
arced, circular, cylindrical, "L," "T," etc., may be combined or
otherwise assembled to achieve a desired configuration, such as an
essentially scalloped shaped contoured battery assembly 1016 that
is passable through a contoured inner periphery 954 of the
non-drive side ring 942.
[0793] The drive side shell 940 is a generally circular,
lens-shaped shell chassis that supports the mechanical drive system
910. The mechanical drive system 910 may include a free hub torque
assembly 926 and the free hub sensor system 912 (FIG. 9G). The
convex contour of the drive side shell 940 may be defined to
specifically accommodate the mechanical drive system 910. For
example, the multi-speed hub 940A may be relatively flatter than
the single speed hub 940B (FIGS. 10A, 10B).
[0794] With continued reference to FIG. 9I, the non-drive side ring
942 typically includes a multiple of spoke interfaces 952 such as
arcuate grooves to receive the spokes 918. The non-drive side ring
942 is held in contact with the drive side shell 940 via the
tension of the spokes 918, fasteners, or a combination thereof. A
contoured inner periphery 954 of the non-drive side ring 942
matches an outer contoured periphery 958 of the door 944 such that
the door 944 is readily removed without despoking or delacing to
access the contoured battery assembly 1016 that contains the
multiple of batteries packs 962 of the battery system 906.
[0795] In one example, the contoured inner periphery 954 may be
scalloped and the contoured battery assembly 960 may be formed of a
multiple of circumferential segments to facilitate removal. An
inner periphery 970 of the removable access door 944 may be
circular to receive the user interface system 948. As will be
further described, the user interface system 948 is mounted to the
static system 902 and may include, for example, a power port,
on/off switch, status lights, etc.
[0796] With reference to FIG. 11A, a torque arm 1100 provides a
substantially rigid mechanical connection between the stationary
portion of the hub assembly and the frame of the vehicle on which
the electrically motorized wheel is mounted, thereby maintaining
the stationary portion in a fixed position relative to the frame of
the vehicle. As various bicycle frames have various rear drop-outs
(where the axle fits the frame) one challenge is how to transfer
the torque to the frame as in a non-motorized vehicle, the frame of
reference is the pedal, and forward force is resisted.
[0797] The torque arm 1100 generally includes a ring portion 1102,
an arm portion 1104, and a hinge portion 1108 (FIG. 11B) that
extends from the ring portion 1102. An inner periphery 1112 (FIG.
11C) of the ring portion 1102, and an increased diameter shaft
section, may be non-circular, e.g., oval or polygonal to
rotationally key the torque arm 1100 to the shaft 924, yet permit
the torque arm 1100 to pivot relative thereto.
[0798] The hinge portions 1108 extend from the ring portion 1102 to
interface with respective indentations 1114 in the user interface
system 948 (FIG. 11D). The hinge portion 1108 defines a pivot for
the torque arm 1100 such that the arm portion 1104 may interface
with a frame member 1120, and alternatively, may be secured thereto
via a clamp 1052. It should be understood that various clamps and
other interfaces may be utilized to secure the arm to the frame
member 1120 as well as positional relationships that do not require
a clamp such as that which locates the arm portion 1104 to
rotationally ground the static system to the frame member 1120.
[0799] The hinge portions 1108 further permit the design of other
torque resisting interfaces other than the illustrated torque arm
1100 design that couples the non-rotating parts to a bike frame.
For example a manufacturing tester might have a complete
differently shaped reaction torque mount that utilizes the same
mating features.
[0800] A lock nut 1130 may include a non-planar surface 1132 (FIG.
11E) such as a concave, conical, arcuate, or semi-spherical surface
to interface with a related convex, conical, arcuate, or
semi-spherical surface 1015 (FIG. 11C) to accommodate any angle of
the torque arm 1100 with respect to the shaft 924 to interface with
the frame member 1120 (FIG. 11A).
[0801] The torque arm 1100 facilitates accommodation of different
bicycle frames, is rotatable when aligning the electrically
motorized wheel to the bicycle frame during install, then pivot
outwards or inwards with respect to the electrically motorized
wheel, such that the torque arm 1100 remains directly under the
frame member 1120 onto which the electrically motorized wheel is
installed. This facilitates effective torque transfer and
uncomplicated installation of the electrically motorized wheel.
Further, although this torque arm embodiment has specific
illustrated components in a bicycle embodiment, the embodiments of
this disclosure are not limited to those particular combinations
and it is possible to use some of the components or features from
any of the embodiments in combination with features or components
from any of the other embodiments.
[0802] With reference to FIG. 12A, the user interface system 948
include a user interface 1200 that is located on the non-drive side
to support the torque arm 1100 (FIG. 11A) yet remain clear of the
mechanical drive system, chain, sprocket, etc. that are located on
the drive-side. This permits an accessible user interface 1200 as
well as an effective support for the torque arm 1100 with respect
to the bicycle frame. In other embodiments, the user interface 1200
may include a display screen.
[0803] The user interface 1200 may include a power port 1202 (FIG.
12B) such as a Rosenberger connection under a removable cover 1203,
an on/off switch 1208, an arrangement of battery power status
lights 1210, and a power indicator light 1212. In one example, the
arrangement of battery power status lights 1210 is arcuate to at
least partially surround the removable cover 1203, and the power
indicator light 1212 may be located adjacent to the rotary on/off
switch 1208. The battery power status lights 1210 and the power
indicator light 1212 are visible through respective windows 1214,
1216 in a user interface cover plate 1218. In this example, the
rotary on/off switch 1208 is generally flush with the interface
cover plate 1218 to facilitate, for example minimal aerodynamic
resistance. It should be understood that various ports, hardware
interfaces, and other user interfaces may alternatively or
additionally be provided.
[0804] With reference to FIG. 12B, the user interface system 948
may be mounted to a battery mount plate 1220 that supports the
battery system 906 in rotationally static manner. That is, the user
interface system 948 is a portion of the static system that is at
least partially supported by the battery mount plate 1220 about
which the rotating system rotates.
[0805] Normal operations of the electrically motorized wheel may
result in the heating of various components, including motor
components, various electrical components, mechanical components,
and energy storage components. The generated heat may eventually
affect performance of such components; impose stress as a result of
thermal expansion and contraction of materials; affect the
stability or working lifetime of components; or the like. For
example, semiconductor components in processors can be sensitive to
heat, batteries can be rendered inoperable, and motors can provide
reduced output or be damaged when overheated.
[0806] With reference to FIGS. 13A and 13B, passive thermal
management is performed through the conduction of heat along a
conductive thermal path 1300 to the shaft 1302, thence into and/or
through the hub shell assembly 1304. Both the electric motor
windings 1315 of the stator 911, and the main control board 1430 of
the control system are non-moving in embodiments.
[0807] In embodiments, the motor windings 1315 surround a hub 1306
of the stator 911, while a heat generating electronic board, such
as the main control board 1430 is mounted directly thereto. The
control system thus utilizes a web 1307 of the hub of the stator
911 as a heat sink for the main control board 1430 (FIG. 13B). A
thermally conductive, yet electronically insulated pad 1317 may
also be utilized between the board 1430 and the stator 911.
[0808] The stator 911 is mounted to the shaft 1302 that is attached
to the frame of the bicycle. Some of the heat from, for example,
the control board 1430 and the motor windings 1315, thus ultimately
flows through the stator 911 to the shaft 1302, thence to the
bicycle frame along the conductive thermal path 1300. The bicycle
frame thus operates as a heat sink of significant volume.
[0809] With reference to FIG. 13C, a drive side shell 1320 may
include internal convection elements 1322. The convection elements
1322 may be fins of various thermally radiative shapes that are
located, for example, on the interior surface of the drive side
shell 1320 to maximize airflow such as within and/or along gaps
through which air may inherently flow. The convection elements 1322
may be otherwise positioned to facilitate direction of airflow.
That is, the convection elements 1322 may guide free stream airflow
as well as that airflow which is generated from the rotation of the
rotating hub shell assembly 1304
[0810] The drive side shell 1320 may also be manufactured of a
lightweight material such as aluminum, magnesium, titanium, and
other alloys for heat transfer without air exchange. Some of the
heat from, for example, the battery system 906, the main control
board 1430, and/or the motor stator 911, heats the air inside the
spinning hub shell assembly components 1304 1320 and the air
transfers the heat to the full internal surface area of the
spinning hub shell assembly components 1304 1320 which, in turn,
transfer the heat through conduction to the external surface and
through convection to the ambient air around the exterior of these
hub shell assembly components.
[0811] In other embodiments, an active cooling system communicates
air through or over the heat generating components to conduct heat
therefrom. The air may be introduced through a passage 1324
(illustrated schematically) such as a vent, valve, and/or pump may
be actively controlled to open and close so as to initiate,
moderate, and control, the airflow.
[0812] In one example, airflow may be selectively induced by
opening the passages 1324 to the ambient environment to provide
passive cooling. Alternatively, one or more heat exchangers within
the hub shell assembly 1304 may be utilized to actively cool the
airflow. For example, the vent, valve and/or pump may induce
airflow in response to a sensor that identifies a temperature above
a predetermined or calculated threshold. Such selective operation
may be performed so as to minimize aerodynamic interference. That
is, drag is typically greater when the passage 1324 or air scoop is
open than when closed. Alternatively, the vent may be operated by
centripetal force, opening under the force of rotation and closing
when the wheel is stopped. This would facilitate water resistance
yet provide ventilation.
[0813] In another example, the passage 1324 is generally the
internal cavity of the hub shell assembly such that intakes 1344,
which may be located in the rotationally fixed UI panel 948, intake
air which is then essentially flung radially outward through
outlets 1346 in the shell 944 (FIG. 13D).
[0814] In embodiments, another fluid such as a gas, vapor, or
liquid, may be used. The fluid cooling system may include one or
more pumps, valves, or the like, as well as sealed fluid channels
that pass the fluid over parts that benefit from conductive
cooling. For example, a fluid may be passed over or through one or
more of the heat generating components. Alternatively, the fluid
may be passed over or through the hub shell assembly 1304 to
provide a chilled environment for the components therein. The fluid
system may be under control of the control system, which may be
responsive to inputs, such as from a user or based on a temperature
sensor.
[0815] With reference to FIG. 13E, a rotating system 1330 and a
static system 1322 may form a gap 1334 of, for example, about 2 mm
between a stationary motor winding 1338 and a magnetic ring rotor
913 that is fixed to, and rotates with, the shell 1320. When power
is supplied to the motor winding 1338, a magnetic current is
induced from the electrical wires wound on the stator 911 causing
the magnetic ring rotor 913 and the shell 1320 to rotate. In
embodiments, the magnetic ring rotor 913 is arranged between a
battery housing 1342 and the motor windings 1338--both of which are
stationary--but are organized such that the magnetic ring rotor
1340, located therebetween, rotates with the shell 1320.
[0816] A gap 1350 may also be located between the shell 1320 and
the contoured battery assembly 1352 as the shell 1320 rotates
relative to the rotationally stationary contoured battery assembly
1352. These gaps operate as a thermal insulator. To avoid this
insulation effect and induce airflow for cooling, the gap widths
may be optimized for passive thermal cooling, mechanical operation,
and combinations thereof. Convection elements 1322 of thermal
radiative shapes may be positioned to maximize airflow direction
such as within and/or along gaps to facilitate passive thermal
cooling.
[0817] With reference to FIG. 13F, active thermal management
according to embodiments, is performed through control of the
electric motor to limit temperatures below a desired maximum. Such
active thermal management may be performed through control of power
usage within the power distribution system 1360 of the electrically
motorized wheel (FIG. 13G).
[0818] In embodiments, active thermal control algorithms 1350
generally include sensing temperatures of the electric motor, the
main control board and energy stage components, electronic
controllers, battery, or other heat sensitive components then
attenuating operation of the electric motor, the primary heat
source, to limit these sensed temperatures below a desired maximums
by selectively attenuating an assistance/resistance 1354, 1356,
1358.
[0819] With reference to FIG. 14A, a data flow 1400 can be provided
between the electrically motorized wheel 1402, the user 1404, and a
server 1406 such as a cloud-based server/API or other remote
server, module, or system. Various communication and data links may
be provided between the electrically motorized wheel 1402, the user
1404, and the server 1406 such as a mobile device 1416 which serves
as an interface therebetween for relatively long range cellular and
satellite type communication. That is, a smart phone of the user
associated with the electrically motorized wheel 1402 operates as a
data link between the electrically motorized wheel 1402 and the
server 1406. The electrically motorized wheel 1402 is operable to
calculate the assistance and resistance required at any given time,
i.e., essentially instantaneously.
[0820] The control system 1410 utilizes an algorithm 1412 that
applies data from a sensor system 1414 and, if available, the
mobile device 1416, to determine an essentially instantaneous
energy transfers between a battery system 1420 and an electric
motor 1422. The control system 1410 may also regulate and monitor
the sensors 1414 and connected components for faults and hazards
for communication to the mobile device 1416.
[0821] With reference to FIG. 14B, the control system 1410 may
include a multiple of printed circuit boards to distribute control,
facilitate maintenance, and thermal management thereof. In this
example, the control system 1410 includes a main control board
1450, a User Interface board 1452, a Battery Management System
(BMS) board 1454 (FIG. 12B), a motor interface board 1458, and a
sensor system, here disclosed as a wheel torque sensor 1460, and a
wheel speed sensor 1462. It should be understood that the boards
may be otherwise combined or distributed. It should also be
understood that other sensors such as a GSM, GPS, inertial
measurement sensors, weight on wheel strain sensors, chain strain
sensors, cassette speed sensors, environmental sensors, and other
sensors may be provided and integrated into the one or more of the
boards. Further, various ports and hardware interface may
additionally be provided, to include, but not be limited to, a
diagnostic connector, a charger connector, and/or others.
[0822] The User Interface board 1452, in one example, may include
relatively short-range wireless systems such as Bluetooth, IEEE
802.11, etc., for communication with the user interface 1200.
[0823] In one example, the motor interface board 1458 hosts the
motor relay, the motor commutation hall sensors and the motor
temperature sensor. The motor interface board 1458 collects those
signals to one connector for connection to the main control board
1450.
[0824] The Battery Management System (BMS) board 1454 (FIG. 9E)
may, in one example, be mounted to the contoured battery assembly
1352. The motor relay board 1458 may be mounted to the stator 911
(FIG. 9F) such that the stator 911 operates as a heat sink.
[0825] The control system 1410 may further include a hardware
interface 1432, e.g. input ports, data ports, charging ports,
device slots, and other interfaces, that permit the plug in of
other sensors, hardware devices, and/or peripherals to provide
communication with the main control board 1450 and associated
boards. Alternatively or in addition, each board may have one or
more hardware interface 1432 such as a power port for the Battery
Management System (BMS) board 1454.
[0826] Additionally, a charging port 1434 that, similar to a USB
connector, provides not only power, but also data transfer. This
may be performed through, for example, a controller area network
(CAN bus) interface 1436 integrated into the connection. Between
the hardware interface 1432 and CAN bus interface implementation of
additional sensors or external plugin hardware components is
readily enabled, e.g., extended battery, lights, humidity sensors,
proximity sensors, speakers, anti-theft devices, charging racks,
etc.
[0827] Data from the hardware interface 1432 may be communicated to
the mobile device 1416 via short-range wireless systems. The data
may be processed by the mobile device 1416, and/or further
transmitted via the mobile device 1416 to a server for processing.
Data may be communicated directly from the electrically motorized
wheel to the server using relatively long-range wireless
communications systems such as cellular, satellite, etc.
[0828] Feedback to the user, alterations to control parameters,
and/or other data may be communicated to the electrically motorized
wheel on the basis of the processed data. In one example, distance
sensor data, e.g. RADAR, SONAR, LIDAR, imagery, etc., that provide
for identification of an approaching object, may feedback such
identification to the user in the form of an audible, visual or
tactile sensation. For example, a rear directed camera might
communicate imagery to the mobile device 1416 so that a user may be
readily apprised of traffic approaching from the rear.
Alternatively, identification of an approaching object by the rear
directed camera may result in a tactile output from the
electrically motorized wheel, e.g., a shaking or jitter, to gain
the attention of the user.
[0829] In another example, environmental data indicating high
humidity levels, altitude, and/or other environmental factors may
be utilized to adjust the control parameters for a given mode such
that additional motor assistance is provided under such conditions.
For example, as the vehicle traverses a mountain, additional
assistance may be provided at higher altitudes.
[0830] The mobile device 1416 may collect data at a rate of, for
example, about 1 data point per second. Each data point may include
time and location data stamps from, for example, a GPS module 1440
or the inertia navigation system. Applications to interface with
the electrically motorized wheel 1402 may thus perform minimal
calculations. Other peripheral devices 1442 such as a wearable
health monitor may also be utilized with, or as a replacement for,
the mobile device 1416 to provide data collection and/or
communication with the electrically motorized wheel.
[0831] The electrically motorized wheel may also communicate with a
server via the mobile device 1416. The server enables reception
and/or streaming of data collected by one or more electrically
motorized wheels for communication and display essentially in real
time from the mobile device 1416 to the electrically motorized
wheel, another electrically motorized wheel, and/or a fleet of
electrically motorized wheels such as a delivery service, shopping
cart fleet of a store, etc.
[0832] The collected data may include direction of travel, faults
associated with the fleet vehicle, and other data. Aggregated data
collected from a single electrically motorized wheel, or multiple
electrically motorized wheels, may then be utilized to, for
example, analyze routes and modes, provide different analyses of
the data, customize a user experience, and/or generate suggestions
for a more efficient commute.
[0833] In embodiments, the hardware interface 1432 may be utilized
to charge devices such as a mobile device 1502. That is, the mobile
device 1502 such as a smart phone may be utilized as a user
interface to the electrically motorized wheel as well as being
charged therefrom.
[0834] With reference to FIG. 15A, a mobile device user interface
1500 for a mobile device 1502 may provide selection among various
operational modes 1504. The mobile device user interface 1500 may
be a downloadable application or other software interface to
provide, for example, selection among the operational modes 1504,
data communication, and/or data transfer to and from the
electrically motorized wheel. In alternative embodiments, the
operational mode may be selected for the user, such as based on
user inputs, a user profile, information about user history,
environmental factors, information about a route, inputs of third
parties (e.g., a doctor or trainer) or many other factors disclosed
throughout this disclosure. Selection of an operational mode may
occur at the wheel 100, on the user mobile device, or remotely,
such as on a server or other external system.
[0835] In embodiments, an algorithm 1508 that governs a control
regime for a device of the wheel 100 such as to control operation
of the electrically motorized wheel or device thereof typically
includes a set of parameters in which each parameter is a
placeholder for a multiplier, or gain, in the algorithm 1508. The
selected mode 1504 provides values for the set of parameters, one
of which may optionally select which algorithm or control regime to
use. These values may be input into the selected algorithm 1508 to
provide an associated level of assistance or resistance the user
will experience in response inputs, such as from to the sensor data
from the sensor system 1510, data from external systems (e.g.,
information systems containing terrain information, weather
systems, traffic systems, and the like), and further input from the
user. It should be understood that each parameter, multiplier,
and/or term may correlate to some control relationship such as
exponential, a linear function, a step function, or a separate
calculation, that relates a control input to a specified level of
motor control output.
[0836] The system may transition among various operational modes,
such as based on user selection or other determination of the
appropriate operational mode. Alternatively, in embodiments where
the wheel itself does not automatically select an operational mode
based on sensor or similar inputs, if no mobile device 1502 or
other selection facility is in present communication with the
control system 1512, a standard mode may be automatically set as a
default operational mode, or the wheel may use the most recently
used past mode, if a mobile device or other selection facility was
previously connected. Generally, in bicycle embodiments, the user
need only ride the bicycle, and the wheel sensor system 1510 will
sense various input data such as torque, slope, speed, etc., that
is then communicated to the control system 1512 that employs the
algorithm 1508. The operational mode selected by the user via the
mobile device, or otherwise selected, essentially provides values
for the parameters in the algorithm 1508. When the parameters,
having the appropriate values for the selected operational model,
are applied to the present set of inputs (such as sensed by the
sensor system 1510 or otherwise obtained, such as by a data
collection facility of the wheel 100), the algorithm produces an
output. The output determines the current control command for the
wheel, which in embodiments is essentially a specification of the
nature and extent of the energy exchange between a battery system
1514 and an electric motor 1518. The output of the electric motor
1518 is the level of assistance or resistance that the user
experiences when operating the wheel 100, which varies for a
particular situation, based on the selected mode.
[0837] For some operational modes, the value for a single parameter
may be supplied to the algorithm 1508. This value may represent an
overall gain for the assistance provided. For example, a standard
mode may provide an overall gain value of one (1) to the algorithm
1508, in contrast to a "turbo" mode that may result in an overall
gain value greater than one (>1) being supplied to the algorithm
1508. Conversely, a selection of an "economy" mode may result in an
overall gain value less than one (<1) being supplied to the
algorithm 1508. Alternatively, the overall gain may be used to
adjust the algorithm based upon the total payload weight the wheel
is propelling, compensate other environmental conditions such as a
head wind, or other conditions.
[0838] For some operational modes, a plurality of parameter values
may be supplied to the algorithm 1508. These values may be
associated with parameters representing multipliers or gains for
different portions of the algorithm 1508 to control various
components that contribute to the overall ride, such as wheel data,
user input data (such as torque or cadence), environmental factors
(such as slope or wind resistance), "gestures" or command motions,
such as sensed at the user inputs (such as backpedaling to control
braking), etc. The parameters may alternatively or additionally
represent multipliers for different sensor values and/or calculated
values representative of various components that contribute to the
overall ride.
[0839] In embodiments, the algorithm 1508 can have a general form
that relates control inputs to outputs. The control inputs may fall
generally into a set of categories such as inputs that relate to
inputs from the rider or another individual, either sensed (e.g.,
as rider torque) or entered data (e.g., as a riders weight or age,
a training goal entered by a physical therapist for the rider, a
work constraint entered by a physician of a rider, or the like);
inputs that relate to the operational state of the electrically
motorized wheel (e.g., wheel speed); inputs that relate to the
conditions of the environment or operational context of the wheel
(e.g., slope, temperature, wind, etc.); and inputs collected from
various data sources (e.g., other vehicles, other wheels, traffic
networks, infrastructure elements, and many others). These inputs
may be combined with other parameters such as gains, or passed
through other conditioning functions such as a filter. The output
of these combinations of inputs may be the "terms" of the algorithm
1508. These terms may be linear, non-linear, discrete, continuous,
time-dependent, or time-invariant.
[0840] These terms may then be summed, multiplied, divided, or
otherwise combined (such as taking the maximum or minimum of some
or all of the terms) to provide one or more outputs. In some
embodiments, it may be advantageous to provide a multitude of terms
in the control system that isolate or separate conditions under
which a user would receive assistance or resistance. For example it
may be advantageous to be able to have a separate terms for the
amount of effort that a rider puts in and for aerodynamic forces
such as riding against the wind.
[0841] This beneficially allows each term to have a form that is
suited to the input and underlying phenomenon. For example in the
case of the rider effort, it may be a linear or proportional
response, and in the case of aerodynamic forces it may be
proportional to the square of the wheel or vehicle speed at lower
speeds and a cube or other function at higher speeds. The rider, or
one specifying the response of the wheel to inputs, such as a
provider of wheels, may thereby readily adjust the gains
independently to customize the response of the control to the
conditions that they care about, e.g. hills, wind, power, or the
like.
[0842] Additionally, multipliers on some or all of the terms allow
the gains for each term to be scaled together in response to
another input. For example, increasing the overall responsiveness
to rider inputs with environmental temperature could provide the
rider with more assistance when operating in high temperatures and
thus prevent a user from excessive exertion or perspiration.
[0843] In embodiments, the algorithm 1508 uses a combination of
terms (or types of terms). For example, a mechanical drive unit
input torque and a wheel operational state (such as wheel speed)
may be summed to construct a motor command with the sum including a
term proportional to rider input torque and a term proportional to
wheel speed. In other examples, terms such as ones based on
environmental inputs or data collected by the wheel may similarly
be combined with any of the other input types noted in this
disclosure.
[0844] In another example, the algorithm 1508 use a summation of a
series of input terms, each multiplied by gains (which may be
adjusted as noted above based on the selected operational mode of
the wheel) to yield a command, such as a current command for the
motor.
[0845] In embodiments, given the various inputs (e.g. rider inputs
such as: mechanical drive unit input torque; mechanical drive unit
input speed; and rider weight; various wheel operational states,
such as wheel speed and angle of the device with respect to
gravity; data inputs such as safety information from a traffic
system or other vehicle; and environmental inputs such as ambient
temperature) a motor command equation may be constructed such as by
creating terms proportional to various inputs. For example, the
equation may include a term proportional to rider input torque; a
term proportional to the square of wheel speed; a term proportional
to the angle of the device with respect to gravity; a multiplier
that is proportional to ambient temperature; a multiplier that is
zero when input speed in zero and increases as input speed
approaches wheel speed; and a multiplier that is proportional to
the rider's weight (optionally normalized to a base weight). The
terms may then be summed, and where applicable the sum may be
multiplied by a multiplier.
[0846] In an embodiment, the gains may be independent and variable
over time. This allows the rider, provider, or other user to adjust
the response to a desired preference. Additionally, multipliers may
allow some overall multiplication of the response to factors that
in general may warrant an overall increase in assistance, such as a
hot ambient temperature.
[0847] Alternatively, or in addition, the algorithm 1508 can be
constructed in a manner that allows switching between different
forms, such as among the examples given above. In this case, one
parameter of the equation may be an identifier for which form of
equation to use (i.e., which terms, gain parameters and multipliers
are to be used, such as for a selected operational mode).
[0848] With reference to FIG. 15B, the user may select an
operational mode from a multiple of operational modes that alters
the behavior of the electrically motorized wheel. Each mode may
include one or more parameter settings, and/or combinations thereof
to change the operational behavior of the electrically motorized
wheel. Example operational modes 1504, as will be further
described, may include a "turbo" mode for maximum assistance; a
"flatten city" mode; "fitness challenge" mode; a "maximum power
storage" mode a "standard" mode; a "exercise" mode; a
"rehabilitation" mode; a "training" mode, a "commuter" mode, a
"maximum help" mode etc. The "flatten city" mode may provide motor
assistance on ascents and hill climbs, with braking on descents to
thereby "flatten" the terrain. The "commuter" mode may allow a user
to enter a "not-to-be-exceeded" torque or exertion level to
modulate the assistance. The exercise mode may allow a user to
enter a total number of Calories to be burned, a desired rate of
Calorie burn, a maximum level of exertion or torque, etc. Each mode
may also include adjustable parameters to automatically modulate
the assistance provided over the duration of the ride by the
electrically motorized wheel such as a minimum time that the
assistance must be available, maximum speed, and/or others.
[0849] The mobile device user interface 1500 may present the
multiple of operational modes 1504 in an order that allows a user
to browse different control parameters, such as Eco-Mode; Maximum
Assistance Mode; Target Energy Mode, Maximum Energy Storage, etc.
That is, a user can essentially scroll through a multiple of
operational modes.
[0850] Alternatively, the mobile device user interface 1500 may
provide an "automatic mode" that selects the desired mode
automatically without user input. That is, the automatic mode may
be speed based to select between modes during a trip so that the
vehicle obtains the shortest time. Alternately, the automatic mode
may be time based to select between modes during a trip so that the
vehicle reaches a destination at a desired time. Such selections
may be made based completely on sensor data determined by the
electrically motorized wheel, or alternatively or in addition with
data from a server or from other data devices that a user may be
using such as a health monitoring device such as a heart rate
monitor.
[0851] The "flatten city" mode provides assistance or resistance on
non-level terrain. Adjustable parameters may include data about the
level of assistance, minimum incline of the hill before rendering
assistance, and others. That is, the amount of assistance while
travelling uphill and the amount of resistance while traveling
downhill may be controlled to require user input about equivalent
to a user input required on a level surface.
[0852] The "maximum speed control" mode introduces braking on hills
to limit the maximum speed of the vehicle. Such a "maximum speed
control" may also determine the maximum permitted speed to
particular legal jurisdictions as determined by a global
Positioning Unit.
[0853] The "maximum energy storage" mode maximizes the power
storage achieved. Such "maximum energy storage" mode may also be
related to energy conservation or energy recovery.
[0854] The "fitness challenge" mode might include applying
resistance to the electrically motorized wheel to require
additional effort by the user and thus provide a work-out to the
user.
[0855] The "fitness challenge" mode may provide parameter
assistance and resistance to, for example, simulate intermittent
uphill climbs, an uphill climb of a desired duration, height or
other parameter. Such parameter assistance and resistance may be
associated with a user's performance or preset conditions,
work-outs, heart rate, etc. The "fitness challenge" mode may also
provide visual/audible encouragement to user via a mobile device.
The encouragement may indicate up coming challenges and an expected
output by the user and may be presented on the mobile device user
interface 1500.
[0856] Adjustable parameters for each mode may include data about
the desired destination, a maximum desired exertion for the user,
the maximum desired speed, current location, and others. Data such
as destination may be used together with data on current geospatial
location, possible routes to a destination and associated road
modes, traffic data, user preferences, user capability/fitness
level, together with data related to wheel capacity such as energy
storage data and others. The combination of data may be used to
suggest possible routes, manage power utilization over the selected
or anticipated commute route, estimate remaining battery life based
on available energy, user fitness level, topography of proposed
route, etc.
[0857] With reference to FIG. 15C, the user interface may include
relatively large buttons 1520 and/or icons for navigation functions
such as scrolling through the different modes as well as other
actions which may be performed while the vehicle is in motion, or
idle during a trip (e.g. at a stop light). The use of the large
buttons 1520 facilitates visibility and selection while riding. The
large button 1520 may occupy a significant portion of the available
screen area so as to enable easy selection by a user, for example,
the buttons 1520 on the mobile device 1522 may each occupy a
minimum of 1 inch by 1 inch of display space.
[0858] Similar to creating custom sound settings with an equalizer,
the user can create custom assistance modes from within the mobile
application, or by logging into their account online. With
reference to FIG. 15D, upon selection of an operational mode, the
mobile user interface may permit the input of parameters 1530 such
as a maximum speed of the cassette, an acceleration in response to
pedaling, slope behavior and/or other inputs. In one example, the
inputs may be provided via a slider. Once the parameters have been
entered, the user mobile interface may transition to a progress
screen 1538 (FIG. 15E) that highlights progress to the goal such as
the destination and specified calorie burn.
[0859] With reference to FIG. 16A, a trip 1600 may be represented
as, a line 1602 with one or more events 1604 there-along. The
mobile device or other application may calculate the trip 1600. A
directional arrow 1606 may also be provided for guidance along a
calculated route 1608 to navigate without a map, and without
turn-by-turn directions. Instead, the directional arrow 1606 points
in the direction of the destination which may be advantageous as
bicycles need not be necessarily restricted to motor roadways.
[0860] The route 1608 may be accompanied by other symbology such
as, for example, distance notation 1616 to indicate how far to the
next turn. Further, the view may be presented to account for the
vehicle direction of travel such that the current direction is, for
example, straight up to facilitate orientation. Other symbology
such as an elevation graph 1618 may be provided to indicate
upcoming hills, a time such as ETA 1620, and other such navigation
and trip related data.
[0861] In embodiments, the route 1608 may be enhanced for a
particular user through a slight alternation 1614 in the route 1608
(FIG. 16B). For example, various third party data sources such as
demographic data of an area may be utilized to determine the route
1608 so as to avoid areas based on various parameters in response
to a user selection.
[0862] The data from each trip 1600 may be communicated either
directly to a server 1610 using a wireless or cellular technology,
or from the control system of the electrically motorized wheel to
the connected mobile device 1612 thence to the server or stored on
the mobile device to be communicated to the server at a later time
according to a set of rules that may include, for example, battery
charge on the mobile device, signal strength, the presence of a
Wi-Fi connection, and others.
[0863] Alternatively, aggregated data from a multiple of other
electrically motorized wheels may be searched to select, for
example, a more efficient, faster, or more scenic route. Data from
the server may be associated with the specific electrically
motorized wheel that generated the trip data then aggregated with
trip data from other electrically motorized wheels. The aggregated
data may then be subjected to statistical techniques for sensing
similarity, based on correlations, e.g., based on common segments
of the trip data, destinations, origins, etc. The aggregated data
may then be provided to the user to, for example, make
recommendations for routes, mode selection, and other guidance that
will benefit the user.
[0864] The electrically motorized wheel and the mobile device 1502
may be utilized to catalogue potholes, road conditions, and other
obstacles from, for example, GPS data and accelerometer data along
the route. The GPS data and/or other sensors, can be utilize to
facilitate such cataloging in an automated manner. For example,
start/stops, uneven terrain, and other obstacles can be directly
indicated from the electrically motorized wheel via the speed
sensor, the torque sensor, and the inertial sensors (accelerometers
and gyroscopes) of the sensor system. The torque sensor also
directly measures power output from the user for association and
catalogue with the route location and conditions.
[0865] In embodiments, obstacle detection may be catalogued in
response to sudden changes in elevation or acceleration that are
detected by the sensor system. That is, the cataloging is
essentially automatic. For example, a sudden swerve, detection that
the user is standing on the pedal, or other such indices may be
utilized to catalog a pothole to a particular GPS position.
[0866] Alternately, or in addition, the mobile device 1502 may be
utilized to accept user input, such as pothole detection, along a
route. That is, the cataloging is essentially manual. For example,
should the user identify a pothole, the user may touch a button on
the mobile device 1502 which is then catalogued via GPS. Other
represented pages may include last trip (FIG. 16C), record trip
(FIG. 16D), user settings (FIG. 16E), support (FIG. 16F), and
others (FIG. 16G). It should be understood that the illustrated
pages are merely representative, and various other pages may be
alternatively or additionally provided.
[0867] With reference to FIG. 17A, the control system 1700 of the
electrically motorized wheel may include an application module 1702
that executes various functions, to include, for example, operation
of control algorithms that manage the operation of the electrically
motorized wheel. A boot loader module 1704 is in communication with
the application module 1702 to facilitate loading and updating
thereof. It should be understood that various hardware, software,
and combinations thereof may be used to implement the modules.
[0868] In embodiments, upon start-up of the control system 1700,
the electrically motorized wheel verifies that the version of the
application module 1702 currently installed on the control system
1700 is valid and current. It should be understood that `start-up"
may include connection by various user interfaces that communicate
with the electrically motorized wheel as well as various security
and other communications. If, for example, the application module
1702 is valid and up to date, system initialization occurs. If the
application module 1702 is not valid, the control system 1700 may
initiate the boot loader module 1704 to update the application
module 1702.
[0869] In embodiments, when a mobile device 1708 connects with the
control system 1700, the control system 1700 may upload firmware
version numbers for the application module 1702, the boot loader
module 1704, and other elements, such as a Bluetooth (BT) radio and
the battery management system. The mobile device 1708 may check
with a source, such as a server operating such an application
program interface (API) of a cloud-based server, to determine
whether the uploaded version number of the application module 1702
is the most recent version.
[0870] In embodiments, non-mobile devices such as a desktop
computer may connect locally with the control system 1700 such as
via a Bluetooth connection.
[0871] If a newer version is available, the user may, based on a
rule set, be prompted via the mobile device 1708 to update the
electrically motorized wheel. That is, updated firmware for updated
operation of the electrically motorized wheel. If the user elects
to update the electrically motorized wheel, the mobile device 1708
may direct the control system 1700 to enter the boot loader module
1704. The rule set for updates may permit updates only under
certain defined conditions such as when there is a minimum battery
life on the electrically motorized wheel, a minimum battery life on
the mobile device 1708, a minimum signal strength for the mobile
device 1708, availability of direct power for electrically
motorized wheel and mobile device, and others.
[0872] Upon downloading the updated version of the application
module 1702, the mobile device 1708 may command the boot loader
module 1704 to download the new version of the application module
1702 and, if download is successful, to erase the current
application module 1702 from the control system 1700.
Alternatively, the new version of the application module 1702 may
be downloaded and stored on the mobile device 1708 for later update
of the of the electrically motorized wheel such as via a Bluetooth
connection.
[0873] The new version of the application module 1702 may be sent
from the mobile device 1708 to the boot loader module 1704 via a
wireless connection. The boot loader module 1704 may confirm the
transfer of the individual packets and the total transfer of the
new application module 1702 onto the control system 1700. If the
boot loader module 1704 confirms that the new application module
1702 was loaded successfully, the mobile device 1708 may initiate a
restart of the electrically motorized wheel and control system
1700. Alternatively the boot loader module 1704 may proceed with
updates though a hard-wired interface such as a CAN bus that is
made externally available at the User Interface panel or power
port.
[0874] With reference to FIG. 17B, the application module 1702 of
the control system 1700 may utilize various control techniques,
including algorithms that govern, manage, and/or change operational
parameters of the electrically motorized wheel. That is, the
operational parameter of the electrically motorized wheel may be
changed via the control system that, for example, change the
parameter based on various factors, such as the maximum speed of
the vehicle on which the electrically motorized wheel is installed,
the conditions of the environment (e.g., terrain, weather, and
others), input from the user including the force sensed from
pedaling effort, data input to the electrically motorized wheel,
etc., and parameters that are based on multiple factors (referred
to herein in some cases as blended parameters), the energy used
(such as by the user, by a battery associated with the electrically
motorized wheel, or the like), and/or other control systems that
provide various other modes.
[0875] In embodiments, levels of gain (such as the level of
assistance and/or resistance provided by the electrically motorized
wheel in relation to a given user input such as pedaling effort)
can be managed in connection with the electrically motorized wheel.
In some embodiments, a progression of gains may be utilized to
smooth the transition from one operational regime to another regime
(e.g., a change in terrain from uphill to downhill conditions, a
change in speed of the vehicle on which the electrically motorized
wheel is installed, environmental conditions such as wind direction
and temperature, etc.) Other embodiments may include a step-wise
change between an initial gain one or more new levels of gain.
Normally a step-wise change in operational mode of the electrically
motorized wheel (e.g., between differing levels of assistance or
from assistance to resistance) or a change in gains may result in a
discontinuity in the response of the electrically motorized wheel
to torque command. Such discontinuities may be smoothed by:
[0876] 1. recognizing that a change in gains has occurred;
[0877] 2 taking and optionally storing the value of the command
immediately prior to the change;
[0878] 3. creating an offset that is at least a portion of the
difference between the prior command and the new command;
[0879] 4. subtracting the offset from the new command (this results
in a new command that has a value of or in the range of the old
command to the new command); and
[0880] 5. reducing the offset over a period of time until it is
zero, at which point the transition to the new command is
completed.
[0881] This smoothing process beneficially effectuates gain changes
and control regime changes because it preserves a degree of
continuity in the user experience. The process can handle repeated
transitions, as new offsets are generated with each change (e.g.,
in regime and condition) that results in a new command. This may
include offsets from prior transitions, and there may be a variety
of ways to reduce the command to give the transition different
characteristics (e.g., a finite transition time, a fixed rate of
command change, a maximum level of change, etc.)
[0882] With reference to FIG. 18A, a blending algorithm 1800 for
operation of the electrically motorized wheel may also be
controlled by blending 1806 inputs relating to different factors
that may be sensed in connection with the operation of the
electrically motorized wheel. For example, sensor inputs may be
considered from both a speed sensor 1802 that senses the speed of
rotation of the electrically motorized wheel or displacement of the
vehicle, and as a torque sensor 1804 that senses the amount of
torque on the electrically motorized wheel.
[0883] The control parameters of relevance to the user experience
can vary significantly depending on, for example, the speed of the
vehicle. In consideration a bicycle pedaling example, at low
speeds, responding to pedal torque may be relatively more important
to ride quality, as significant effort is required to initiate
movement of the vehicle. At higher speeds, maintenance of a
consistent cadence or speed may be relatively more important to
ride quality. As such, the amount of assistance in response to each
user input (in this example torque and cadence) may vary based on
the speed of the vehicle. Thus, data from the torque sensor may be
used as a primary factor in a control regime at low speeds, while
the data from the speed sensor may be used as the primary factor in
the control regime at higher speeds. As a result, control may be
managed by delivering high responsiveness to the torque sensor at
low speeds and by using less responsiveness to the torque sensor at
high speeds. Components related to the torque and the speed can be
factored into the control algorithm that ultimately determines the
quantity of energy, or rate of energy delivery from the battery
system to the electric motor.
[0884] The blending algorithm 1800 is thereby operable to provide a
fluid control scheme that scales the importance of each sensor as a
factor in the control scheme based on speed.
[0885] With reference to FIG. 19A, an energy burn control algorithm
1900 permits a user to input the amount of energy (step 1902) the
user would like to burn on a particular ride (e.g., how many
calories to burn between home and work). The energy burned by the
user relates to the amount of work performed in order to move the
vehicle from a first point to a second point. This work may be
modeled based on various physical factors, including the terrain,
friction, the weight of the user such as measured by a sensor of
the vehicle or entered by the user, the weight of the bicycle
including any accessories and additional loads, e.g., camping
equipment, the distance traveled, and others.
[0886] A portion of the work may be performed by the user, such as
by pedaling, while the remainder may be provided by the
electrically motorized wheel. The portion of energy expended by the
user may be modeled as the difference between the total work
required to move a user of a given weight over the terrain (which
may be known based on a GPS model of the terrain or based on
measurements (such as altimeter measurements) from past trips) and
the amount of assistance provided to the user by the electrically
motorized wheel. Thus, as the user indicates an amount of energy
desired to be burned, the control system 1700 may control the
electrically motorized wheel to provide assistance, such as on
hills of the route, to make up any difference between the desired
work and the actual work required to cover the distance. If the
desired portion of the work performed by the user is higher, the
electrically motorized wheel may provide resistance to the user,
re-route the user to a longer route, etc. Thus, the algorithm 1900
may utilizes the user input 1902 and data about the route/terrain
1904 to adjust the assistance/resistance of the electric motor 908
so that the user burns the desired amount of calories over the
course of the route. Once the goal has been identified, the ride
may be previewed and, as the ride progresses, the user interface
may transition to a progress screen that highlights progress to the
goal such as the destination and specified calorie burn.
[0887] With respect to FIG. 19B, the mobile application 1920 may
utilize available GPS location data 1922 and a stored database of
data to determine legal limits 1924 as regulations vary
geographically with respect to various factors that govern
operation of electrically driven or assisted vehicles. These may
include regulations of assisted speeds, level of assistance
provided, and/or motor output. The mobile application 1920 or other
control system may use this data to create a custom mode or set of
control parameters that can be sent to electrically motorized
wheel, such as to govern maximum assistance, speed, or the like.
The mobile device or other control system may recalculate control
parameters when the legal limits change and send updated control
parameters to the electrically motorized wheel.
[0888] In one example, the EU may have a standard regulation of a
top-assisted speed of 25 km/h and 250 W of motor assistance, while
the US may have a top assisted speed of 32 km/h and 750 W of motor
assistance. By using the GPS data available at any given location,
it is possible to regulate the assistance cutoff within the
electrically motorized wheel to comply automatically with the local
regulations, without further intervention.
[0889] Further, many of the laws only apply to bicycles when they
are riding on roads with other motor vehicles and pedestrians. If
the GPS indicates the bicycle to be sufficiently far away from the
road, the bicycle may be assumed to be on a trail in which case the
local regulations may be different, or nonexistent, in which case
limitations on the assistance provided may be removed. In
embodiments, a user may be permitted, such as through the mobile
application, to override the controls, such as to allow more
assistance in an emergency situation.
[0890] In embodiments the mobile application 1920 may also utilize
available GPS location data 1922 to facilitate control while in
operational modes. For example, extremely hilly terrain will result
in different battery regeneration calculations than flat
terrain.
[0891] With reference to FIG. 20A, a fault detection and prediction
system, referred to herein as a "faultless algorithm" 2000 is
operable to sense conditions that have the potential to damage
wheel hardware or subsystems as they occur in essentially real time
(step 2002) then respond by performing mitigating actions based on
the detection of same (step 2004). For example, if the electric
motor approaches a predetermined maximum temperature, beyond which
damage may occur to the electric motor, the amount of assistance or
resistance generated by the electrically motorized wheel to the
user of a vehicle on which the electrically motorized wheel is
disposed can be reduced to prevent a further rise in temperature of
the motor.
[0892] With reference to FIG. 21A, a battery protection algorithm
2100 may provide different and optionally independent command
attenuators, including, but not limited to:
[0893] 1. Protecting the battery from high discharge currents;
[0894] 2. Protecting the battery from high regeneration
currents;
[0895] 3. Protecting the battery from high voltages that may result
from regeneration;
[0896] 4. Protecting the battery from low voltages that may result
from motoring;
[0897] 5. Protecting the battery from high temperatures due to high
loads or heat from other components like the motor; and/or
[0898] 6. Protecting the battery from regeneration currents at low
temperatures.
[0899] Each of these command attenuators can utilize automatic
controls such as a single-sided, closed loop proportional-integral
(PI) control system to generate an attenuated gain ranging from 1.0
(no attenuation) to 0.0 (full attenuation). Alternatively, command
limiters may be utilized instead of the command attenuators. The
command attenuators provide an immediate and linear smooth response
as command limiters are inherently non-linear in nature and can
present control challenges, but are nonetheless a valid
controllers.
[0900] In embodiments, the gain from relevant attenuators can be
determined, combined, and applied to the motor command. The
algorithm may be based on the minimum gain among all control
systems, the maximum gain among all control systems, the sum of
gains from all control systems, and various other ways for
combining the gains, multiplying them, conditionally selecting,
limiting the assistance provided by the motor to the user, etc.
[0901] Under some conditions, the electric motor may be driven by
the battery system, while under other conditions the battery system
may store energy from the motor such as when the motor is used to
slow the vehicle in downhill operation. In situations with
significant energy generation capability, the battery system may be
subjected beyond its normal operational limits for temperature,
voltage and/or current. As such, there are limits that may need to
be enforced for operation of the battery system. There are at least
three general sets of battery limits, i.e., current, voltage, and
temperature. As to limits relating to current, there may be maximum
discharge current and maximum battery regeneration current. As to
voltage limits, there may be a maximum voltage limit and a minimum
voltage limit. As to temperature, there may be a maximum
temperature limit and a minimum temperature limit.
[0902] The battery protection algorithm 2100 may operate to manage
the motor drive operation, such as to maintain battery parameters
within acceptable operational values for voltage, current and
temperature. This may address the electric motor contribution to
the load on the battery system. Other sources of load on the
battery system may also be managed separately.
[0903] In embodiments, single-sided proportional-integral (PI)
closed loop limiters, e.g., one for each limit, may be deployed in
connection with limiting various operational conditions, such as:
battery motoring current; battery regeneration current; battery
over voltage; battery under voltage, etc.
[0904] The output of each PI closed loop limiter may be an
attenuation gain. Each PI closed loop limiter may have its own
control system, with its own separate gains, as the dynamics of
each limiter may require individual tuning.
[0905] The minimum gain of all the limiters may be taken and
applied to the motor current control command. As a particular limit
is approached, the motor command may be attenuated, such as to
reduce the demand on the battery. The voltage limiters may
selectively apply the attenuation gain. For the over voltage
limiter, the attenuation gain for over voltage may be applied only
when commanding regeneration of the battery. This allows motoring
to then alleviate or avoid the over voltage condition. For the
under voltage limiter the attenuation gain may be applied only when
commanding motoring/assistance which allows regeneration to then
alleviate or avoid the low voltage condition.
[0906] In embodiments, battery power control systems may run at the
motor control system frequency, as the battery control systems may
need to have similar or higher bandwidth to keep limit excursions
short in duration. In other embodiments, battery power control
systems may run just prior to the motor control current loop and
after motor drive analog data has been collected, such that the
battery control systems attenuate the command for the motor control
current loop. This sequence may reduce delay in the control
response that would occur if the data collection and attenuation
occurred at different times.
[0907] The control system may be initialized each time the motor
drive is enabled, as the motor drive can be enabled and disabled
during normal operation. The battery control systems may have data
items, such as integrators, that can be reset with every instance
of enablement of the motor drive.
[0908] The control system can provide dynamic limits, because
limits of the battery system may not be static over time and may
vary, for example, with state of charge, temperature, etc. Dynamic
control system limits may be bounded by predetermined maximum and
minimum values, as this provides some protection against potential
errors in measuring time-varying gains. Battery current and battery
voltage may need to be sampled at the same data rate as other motor
control feedback, as these control systems are part of the motor
drive control, and because they run at motor control update rates,
the sensor data may need to have the same frequency of sampling as
other motor control data.
[0909] The control system may be single sided, closed loop, PI
limiters that attenuate the motor current control loop command as
PI limiters beneficially provide steady-state limiting with good
bandwidth. An attenuator output, as compared to a limit output, may
provide immediate intervention.
[0910] Over voltage attenuation gains may be only applied when the
sign of the motor current command is negative (e.g. the motor is
being commanded to oppose forward momentum, i.e., regenerate),
because this allows motoring to alleviate high voltage conditions.
Under voltage attenuation gain may be applied only when the sign of
the motor current command is positive (e.g., the motor is being
commanded to assistance in driving the vehicle), because this
allows regeneration to alleviate low voltage conditions.
[0911] The PI control systems may have enough control authority to
attenuate the motor current control system command to zero, because
attenuating the command to zero is the maximum control authority
possible, and maintain the battery system within operational limits
may have priority over providing assistance to the user.
[0912] Sensors used in hardware protection algorithms may include
sensing of battery voltage, battery current, motor voltage, motor
current, battery temperature, ambient temperature or humidity, etc.
Limits may be set statically in accordance with component design
specifications or updated over time to account for factors such as
component age or environment of usage as determined by GPS or
weather data.
[0913] Pedal cadence is useful for a user to maintain a desired
pace over the course of a ride. Typically, a cyclists may desire to
pedal at a specific cadence to make the most efficient use of their
effort and provide the most benefit from an exercise physiology
standpoint.
[0914] In typical bicycle cadence sensors, measurements are
performed directly at the crank, however, such direct measurements
are not possible, nor desired, if the sensor system is to be
contained within the electrically motorized wheel that is separated
from the pedals by a drivetrain. Although this embodiment has
specific illustrated components in a bicycle embodiment, the
embodiments of this disclosure are not limited to those particular
combinations and it is possible to use some of the components or
features from any of the embodiments in combination with features
or components from any of the other embodiments.
[0915] With reference to FIG. 22A, a pedal cadence estimation
algorithm 2200 operates to estimate the pedal cadence from the
torque input frequency which will have frequency content that is
directly related to pedal cadence. Each time the user provides a
rotational input, i.e., pushes on the pedal, the user is generating
a torque into the system that is detectable. That is, the pedal
rotational frequency (or cadence) is detected by the torque sensor
system and can be communicated to the control system for use by a
gear estimation algorithm 2200. The gear estimation algorithm 2200
is operable to calculate the gear ratio because the rotational
velocity of the cassette is known from, for example, a cassette
speed sensor, and the pedal cadence is known by estimation. The
gear ratio may be determined by a ratio of these two speeds.
[0916] In embodiments, there are two speed sensors: one for the
electrically motorized wheel and one for the cassette of the
mechanical drive system. With knowledge of a rotational velocity of
the cassette, and the torque frequency, both pedal cadence (pedal
speed), and the gear ratio are readily determined by the gear
estimation algorithm 2200. That is, how the pedal frequency relates
to the rotational velocity of the electrically motorized wheel is
known even if the number of speeds on a particular bicycle, or
which gears are set on the rear cassette and the crank, are not
known.
[0917] For example, the rotational velocity w is known from the
cassette speed sensor. The torque frequency, t, is related to
cadence, C: C=t/2. C is equal to the number of revolutions of the
crank per second. Therefore, .omega.=CX, or .omega.=(t/2)X, where X
is the gear ratio. Thus in simple forms, X=2.omega./t. Additional
sophistication may exist in the estimator to update estimates under
conditions where input signals may be small, such as at low speed
or low torques. This sophistication may include closed-loop state
estimation algorithms for example.
[0918] With reference to FIG. 23A, a braking dissipation algorithm
2300 accommodates an architecture in which the battery system 906
may be relatively limited in the amount of energy that can be
absorbed during braking (in which energy can be directed to
recharge the battery) without damage occurring to the battery. In
embodiments, the motor control system of the electrically motorized
wheel is field-oriented and controls the magnetic flux generated in
the stator 911 as a vector that is precisely aligned with the rotor
913. This vector may be controlled to rotate through the stator 911
in synchronization with the rotor 913 of the motor by segregating
the applied current vector into two orthogonal components. One
component, Iq, the quadrature component, is at a right angle to the
back electromagnetic field (back-EMF) vector generated by the
motor. The other, Id, the direct component, is directly aligned
with the back-EMF vector.
[0919] Maintaining the direct component (which produces no torque
in certain embodiments) at zero (Id=0) and the quadrature component
at a commanded level (Iq=Icmd) is how a field-oriented control
system normally ensures the most efficient use of battery power to
produce motor torque. Allowing Id to stray from zero is less
efficient and thus dissipates more energy in the motor, which,
while normally inefficient in regimes in which the desire is to
maximize efficiency of power generation to propel a vehicle,
creates an opportunity when other objectives are in play, such as
involving braking and/or reducing current flow into the battery
during regeneration, to degrade efficiency of motor in transferring
power to the battery.
[0920] The battery protection algorithm 2100 maintains regenerative
charging currents within limits that will not damage the battery,
for example, below about 5.5 A of regeneration in certain
embodiments. Since the battery protection algorithm limits the
quantity of power that can be delivered back into the battery, the
braking dissipation algorithm provides another place to send
braking power in lieu of the battery without the addition of
another dissipative load such as a traditional shunt resistor, thus
allowing or causing more braking than would otherwise be allowed.
This is effectuated by reducing motor current (used to control
power) as needed to maintain the regeneration current directed to
the battery in check. Also the braking torque is reduced, in some
cases significantly, at higher speeds.
[0921] This speed dependence is because at higher speeds, the same
amount of braking torque generates proportionally higher power
levels. That is, at the battery system 906, since voltage is
essentially constant, higher regeneration power translates directly
to higher current into the battery system. Since current is
limited, capacity for braking thus goes down as speed goes up.
[0922] The electric motor 908 in embodiments may have windings with
a relatively high resistance. One consequence of this is that
during hard braking, when the braking torque is high and thus the
motor current is high, the power dissipated in the electric motor
908 is quite high, so the motor absorbs significant braking energy.
As the speed drops, the braking power drops and the proportion of
the braking power absorbed by the motor increases until it reaches
the point where the motor is absorbing all of the braking power. At
this point regeneration of power back into the battery system 906
ceases and the available braking torque is at a maximum. This
threshold can be reached fairly quickly when slowing down and can
cause the braking experienced by the user to rise abruptly. This
behavior is likely unexpected by the user and thus is potentially
undesirable.
[0923] In embodiments, the dynamic braking algorithm 2300 is
activated by backpedaling so the user can use just one method of
control, i.e., pedaling forward is a control that signals
acceleration/assist while pedaling backwards is a control that
signals braking--in either case the user need utilize only a single
user input that is typical of the vehicle, i.e., pedaling in this
example. The relative lack of desired braking at high speed, and
the abrupt increase in braking at lower speeds is addressed such
that the user mode of control, e.g. pedaling in this example, is
seamless. That is, the braking that this technique provides at
higher speeds also provides a partial solution to braking
abruptness problem when slowing down by narrowing the difference in
braking capability at high and low speeds.
[0924] In embodiments, the motor control system is field-oriented
and controls the magnetic flux generated in the stator 911 as a
vector that is precisely aligned with the rotor 913 for generating
maximum torque. This vector is controlled to rotate through the
stator 911 in synchronization with the rotor 913 of the motor by
segregating the applied current vector into two orthogonal
components. The quadrature component is thus at a right angle to
the back-EMF vector generated by the motor, while the direct
component is directly aligned with the back-EMF vector such that
each of these components has a control system therefor.
[0925] The quadrature component produces torque, while the direct
component produces no torque. Thus, for maximum efficiency, a
control system is commanded to maintain the direct component at
zero (Id=0) while the quadrature component is controlled at the
commanded current level (Iq=Icmd). If the control system were to
allow the direct component to grow, the overall motor current would
increase, but no additional torque would be produced, and energy
would be wasted in the resistance of the stator 911 windings.
[0926] Embodiments for braking set Iq=Id=Icmd. This locates the
current vector out of alignment with the back-EMF vector by 45
degrees. As Icmd increases, both Iq and Id would increase and
vice-versa. This has the benefit of allowing higher overall Iq
values than when holding Id to zero, because Id is dissipating at
least some of the energy regenerated by Iq, rather than it
returning it all to the battery. If the motor current is to be
attenuated to protect the battery, motor, or electronics, both are
attenuated equally. It should be understood, however, that ratios
of Id to Iq other than one may alternatively be provided, with
different ratios affecting the level of regeneration relative to
wasting of mechanical power, and such ratios may be varied, such as
accounting for factors like vehicle speed, the level of stored
energy in the battery, sensed state (e.g., temperature) of motor
components, and others.
[0927] In one example, when the motor gets hot, such as while
braking during downhill travel in hot weather, the motor may not
have the capacity to accept the added power and the supplied
braking may fade. Damage to the motor is avoided by having the
control systems limit the motor current which is where the
sensation of fading brakes originates. In embodiments, this may
prompt other actions, such as activating supplemental braking
systems, prompting to the user via the mobile device to use manual
braking, etc.
[0928] In embodiments, a directly connected electric motor is of
the permanent magnet type, such that the rotor rotates with the
electrically motorized wheel. When the motor drive applies a
voltage higher than the generated voltage of the electric motor,
the motor assists the user. The faster the electrically motorized
wheel rotates, the higher the voltage generated. If the speed is
high enough to generate a voltage that is higher than an allowed
voltage, the electrically motorized wheel is in an "over-speed"
condition. The allowed voltage may be specified for safety,
hardware protection, and/or other reasons such as protection from
high-back EMF due to high wheel speeds. EMF is present, however,
EMF may become a problem when wheel speed is high enough for it to
exceed battery voltage.
[0929] An inherent function of the power bridge that drives the
motor is full wave rectification of the back-EMF voltage from the
rotation of the electrically motorized wheel onto the DC bus. Thus,
it is possible for the user to pedal the bicycle to speeds that can
generate this over-speed condition, especially downhill. In
embodiments such as ones involving direct drive motors, the voltage
that can be generated is limited only by how fast the vehicle is
moving and thus has the potential to damage embedded system
electronics.
[0930] Electronic braking through regeneration can be used to
facilitate automatic control of maximum vehicle speed. However, the
battery can only absorb so much energy before its voltage reaches
its maximum limit such that a battery protection algorithm may
automatically protect itself by disconnecting the battery from the
DC bus if the voltage reaches a predetermined value. True, power is
related to current, but at lower battery voltages the power limit
will be lower (P=1*V) while the current limit is the same.
[0931] Further, even when the battery state of charge is low enough
to accept regeneration energy, the rate at which the battery can
accept the energy is bounded by its charging current limit. At
higher speeds, this charging current limit may severely reduce the
braking capability of the electrically motorized wheel, making it
more likely for the user to overcome any automatic speed regulation
the electrically motorized wheel may try to enforce, especially on
a steep downhill. To address this condition, a warning may be
provided to the user via the mobile device.
[0932] Reasonable speeds are allowed, and mitigation of potential
damage to the hardware may be provided, such as by placement of a
relay to isolate and protect the power-electronics bridge and all
other electronics connected to the DC bus from the high voltage
generated by back-EMF generated when the motor is mechanically
driven to an over-speed condition.
[0933] In embodiments, diodes in the bridge 2310 operate as
rectifiers if the back-EMF voltage exceeds the DC bus voltage (FIG.
23B). As motor over-speed increases, back-EMF potentially pushes
the DC bus voltage to uncontrolled levels. To avoid such an
over-voltage condition, relay contacts are opened based upon
measured or estimated back-EMF appearing at motor terminals
approaching the DC bus voltage. In one embodiment Back-Emf is
estimated in accordance with:
VEMF=Ke*SpdMot
[0934] Where:
[0935] VEMF is the terminal-to-terminal EMF voltage [V].
[0936] Ke is the motor back EMF constant [V/(rad/s)].
[0937] SpdMot is the motor speed [rad/s].
[0938] SI units are used here with voltages measured line-to-line
(vs. line-to-neutral), and 0-to-peak of sine (vs. RMS). So the
units on Vemf are [V], on SpdMot are [rad/s], and on Ke are
[V/(rad/s)].
[0939] With reference to FIG. 23C, a method 2320 of motor
over-speed protection includes:
[0940] Measuring SpdMot and Vbat (step 2322);
[0941] Estimating the VEMF as Ke*SpdMot (step 2324); and
[0942] Sensing if VEMF>=to Vbatt-VDisableMargin (step 2326).
[0943] If Yes, the Motor Drive is disabled (step 2328).
[0944] If No, sensing if VEMF>=to Vbatt-VrelayOpeningMargin
(step 2330);
[0945] If Yes, the Motor relay contacts are opened (step 2332).
[0946] If No, determine if VEMF<=to Vbatt-VrelayCloseMargin
(step 2334)
[0947] If Yes, close the motor relay contacts and enable the Motor
Drive (step 2336).
[0948] If No, END (step 2338).
[0949] That is, the motor relay contacts are opened as the
estimated back EMF of the motor, based for example, on the back EMF
constant and the speed of the motor, approaches the measured bus
voltage which varies with battery state of charge.
[0950] With reference to FIG. 23D, an example thermal model
schematic for the motor utilize capacitors to represent
heat-sinking characteristic of the various thermal generating
components in the hub shell assembly. They are responsible for the
fact that it takes some time for these components to heat up, thus
allowing the wheel to have higher performance until those thermal
generating components are hot. The resistors represent the paths
for heat to spread inside of, then ultimately escape the hub shell
assembly.
[0951] With reference to FIG. 23E, a thermal schematic for the
electrically motorized wheel includes four major heat sources:
winding losses in the motor windings, rotational losses in the
motor stator steel, losses in the power electronic bridge of the
motor drive, and losses in the battery pack. The heat sources are
ultimately communicated to the shaft 924, thence to the bicycle
frame along mechanical conductive thermal paths. The bicycle frame
thus ultimately operates as a heat sink of significant volume.
[0952] With reference to FIG. 24A, a torque sensing algorithm 2400
may be provided to measure different process parameters related to
torque. The torque sensing algorithm 2400 may include non-contact
sensor technology that utilizes fundamental mechanical and magnetic
properties of the material to measure different process parameters
such as magnetoelastic materials. The process involves measuring
changes in the properties of remnant magnetic fields as the
mechanical characteristics change, such as shear stress, as
external forces are applied onto the sensor host (step 2402).
[0953] The torque sensor 1204 may include highly sensitive fluxgate
sensors located in close proximity to a magnetized member to sense
the change in the magnetic-field characteristics that are
proportional to the applied force. The mechanical member may be
directly magnetized instead of attaching additional elements, such
as a ring. The change in the magnetic-field characteristics are
linear and repeatable within the elastic limit of the material, and
are accurate under normal and extended operating conditions such
that an applied force can be readily determined (step 2404).
[0954] For example, when the shaft is subjected to a mechanical
stress, such as torque from pedaling, the magnetic susceptibility
of the magnetoelastic material changes and is detected by the
surrounding sensor. The torque sensor 1204 produces a signal
proportional to the torque applied by the user then communicated to
the control system 914.
[0955] With reference to FIG. 24B, a vertical load sensing
algorithm 2450 may be provided to measure different process
parameters such as vertical load. The vertical load sensing
algorithm 2450 may communicate with a magnetic field flux sensor
measuring change in magnetic field (step 2452) resulting from an
initial mechanical stress applied such as, for example, when the
user mounts the bicycle. The change in magnetic field may be
generated by the shaft, shell, or other wheel component
manufactured or including a magnetoelastic material that is
deformed when a load is applied on electrically motorized wheel.
The change in the magnetic-field characteristics are linear and
repeatable within the elastic limit of the material, and are
accurate under normal and extended operating conditions such that
an applied force can be readily determined (step 2454).
[0956] The measured vertical load may be used as a modifier by the
control algorithms. For example, the measured vertical load may
contribute to calculations controlling for calories burned due to a
weight of the user, identification of a user to unlock the
electrically motorized wheel, etc.
[0957] In embodiments, various components of the shell, such as the
drive side shell 940, the non-drive side ring 942, the removable
access door 944, and the like may include a magnetoelastic
material. Alternately, a thin coating of magnetoelastic material
may be applied to a component. The coating may be applied overall
or in a directional pattern and in various thicknesses. Magnetic
flux sensors situated in close proximity to the magnetoelastic
material enable the detection of changes in the magnetic flux
created by the deformation of the component during operation.
Insight into the deformation of a component, such as the shell, may
be used to understand electrically motorized wheel environment and
inform future design modifications.
[0958] With reference to FIG. 25A, a security algorithm 2500, may
be provided for security of the electrically motorized wheel until
authentication is performed in an exchange between a mobile device
and the electrically motorized wheel. This may be automatic once an
initial authentication is performed (step 2502). Initial
authentication may be performed when first connecting to the
electrically motorized wheel to collect the serial number (step
2504).
[0959] Once the electrically motorized wheel is registered to the
account and mobile device (step 2506), the electrically motorized
wheel will search for registered mobile devices via a relatively
short range wireless connection, for example, Bluetooth (BT) (step
2508). The electrically motorized wheel may store previously
authenticated mobile devices and reconnect to them automatically
when within a predetermined proximity (step 2510). Alternatively,
another key such as a wireless car key, or other key is utilized to
unlock the electrically motorized wheel (step 2512).
[0960] Alternatively, or in addition, a dongle plugs into the
electrically motorized wheel to unlock the electrically motorized
wheel (step 2512).
[0961] When locked, the main control board 1450 can configure motor
controller to resist or prevent rotation of the electrically
motorized wheel. Alternatively, the lock function could prevent the
use of the electrically motorized wheel to provide assist while
letting the wheel spin freely. In one example, identification of
the authenticated mobile device being within a predetermined
proximity is sufficient to unlock the electrically motorized wheel.
Alternatively, or in addition, a security input (step 2514) to the
mobile device, or directly to the electrically motorized wheel such
as entry of a code, entry of a password, facial recognition,
fingerprint scan, unlock plug, and others may be utilized to unlock
the electrically motorized wheel.
[0962] The electrically motorized wheel may be triggered to lock
(step 2516) by a combination of criteria, such as the electrically
motorized wheel no longer being connected to the mobile device, the
mobile device being beyond a predetermined proximity from the
vehicle, a user not being seated on the vehicle, the electrically
motorized wheel not moving for a prescribed time period, the
vehicle not moving for a prescribed time period, a timeout, etc.
Further, the electrically motorized wheel may be selectively locked
from the mobile device.
[0963] The electrically motorized wheel may receive input from
various sensors and other data sources for interface with the
control system 1700. The support and/or ports provided for
additional sensors and other hardware (FIG. 14A) may be used to
enhance user safety in a variety of ways such as alerting the user
to a danger, alerting other's to the user's presence, enhancing
user visibility and others. Data from one or more sensors may be
transferred to the main control board and from there to the user's
mobile device or to a remote location. In some examples, data may
be sent to the user's mobile device and commands sent back to the
electrically motorized wheel in response. In some examples, data
may be sent to a server then commands sent back to the electrically
motorized wheel in response. In other examples, data may be
processed directly at the mobile device for the electrically
motorized wheel. For example, a proximity sensor may send data to
the user's mobile device causing the mobile device to provide an
alert to the user using one or more of an audio alert, a visual
alert, and a tactile alert. A tactile alert may be delivered by
providing commands to the electrically motorized wheel so as to
cause a small perturbation in performance of the electrically
motorized wheel, such as a vibration, a change in speed, a change
in the amount of assistance provided to a pedaling user, a change
in resistance and others, which may be felt by a user and
understood as a signal indicating a change in performance or the
approach to an operational limit of the wheel, such as maximum
motor temperature, or maximum regeneration current.
[0964] In embodiments, a proximity sensor may provide data
regarding the user's location, such as via a traffic network, for
alerting drivers of other vehicles (automobiles, trucks, buses,
other electrically motorized vehicles, or the like) of the user's
presence. A proximity sensor may be GPS or other global location
sensor (or set of sensors, such as used in triangulation to
locations of infrastructure elements, such as satellites, cellular
towers, or the like), a sensor or sensors associated with a network
(e.g., a cellular, Bluetooth, NFS, or other local wireless
network), a sensor associated with a transportation infrastructure
(e.g., located at a road sign, traffic signal, crossing, or the
like), a sensor associated with a mobile device (e.g., a camera of
a mobile device), or any other sensor that would provide data about
the location of vehicle enabled with an electrically motorized
wheel. For example, the electrically motorized wheel may
communicate directly with other vehicles, (e.g., a cellular,
Bluetooth, NFS, or other wireless network) to form an ad hoc local
traffic network (FIG. 14C) that provides relative positional
information of the adjacent vehicles to, for example, alert a
vehicle to the presence and relative position of the electrically
motorized wheel. Alternatively, the electrically motorized wheel
may communicate globally with a local server (FIG. 14D), such as
that located at an intersection, or a city wide server that then
communicates with adjacent vehicles on the traffic net to provide
relative positional information of the adjacent vehicles.
[0965] In another example, an illumination level sensor may provide
data to an application that would cause the bicycle lights to turn
on when illumination falls below a set level. Alternatively a data
source may provide daylight data based on geological clock, which
may be associated with proximity data, such that the electrically
motorized wheel sends a signal to turn on illumination when in use
at night at the current location of the electrically motorized
wheel.
[0966] With reference to FIG. 25B, a remote diagnostics algorithm
2500, may be provided for the electrically motorized wheel. The
remote diagnostics algorithm 2500 operates to collect operational
data from, for example, the various sensors in the sensory system
of the electrically motorized wheel (step 2552).
[0967] The operational data may include software and hardware
version numbers as well as an application state of the electrically
motorized wheel to include, but not be limited to, system
initialization, sleeping, listening, stand by initiated, standing
by, running initiated, running, locked, service mode, shutdown,
default, boot loading, and others. The operational data may also
include hazard indicators, both critical hazard indicators, which
require the cessation of assist functions, such as motor overheated
and transient hazard indicators, which allow continued use but with
restricted performance, such as motor temperature being close to a
limit but not over it.
[0968] The operational data may include system response data such
as a reduction in motor assistance in response to a motor warm
hazard indicator, regenerative braking turned off in response to
the battery being full, results of a self test run in response to a
torque sensor fault, and others. The operational data may also
include any system fault errors generated by the different
subsystems such as battery, motor drive, sensors, communications,
processing board, peripheral, system, and others. The operational
data may further include sensor data that is used for controlling
the vehicle such as bicycle velocity, pedal speed, cassette torque,
cassette speed, and others.
[0969] The operational data may be communicated on a predetermined
frequency basis for analysis (step 2554). The data may be
communicated either directly to a server via, for example, wireless
or cellular technology such as 3G/4G, or to the connected mobile
device via a wired connection, Bluetooth, or other wireless
technologies. Data communicated to the mobile device may then be
sent directly to a server or stored on the mobile device to be
communicated to the server at a later time according to a set of
rules that may include, for example, battery charge on the mobile
device, signal strength, the presence of a Wi-Fi connection, and
others. Data may also be stored locally on the wheel and sent to
the server at a later time, either automatically once a mobile
device connects to the wheel, or when connected to service tool
through a wireless or a wired connection port 218. Data sent to the
server may be associated with the specific wheel that generated the
data. This association enables a service representative to view and
analyze the operational data when responding to a trouble call,
thus facilitating resolution of the issue (step 2556).
[0970] The operational data may be analyzed for internal
consistency and error detection. For example, if a positive torque
is measured at the cassette but there a negative speed measured at
the cassette, there is a problem either with the torque or speed
measurement. This is because in a bicycle with a freewheel positive
torques cannot be sustained with negative pedal speed.
[0971] In another example, data, such as cassette speed, may be
checked for errors using a variety of sensors such as the speed
sensor, the torque frequency measured at the cassette torque
sensor. Because the pedals cannot spin faster than the measured
wheel speed, if the pedal speed exceeds the motor speed there is a
problem either with the cassette or wheel speed measurements.
[0972] Additionally, operational data may be collected for
understanding the context of usage. For example, temperature data
may be reviewed to determine the temperature at which the batteries
were charged and discharged and/or accelerometer data may be used
to sense crashes, falls, drops and others. The operational data may
thus be used to determine the occurrence of user actions and events
outside the "normal wear and tear," that might void the warranty
(step 2558).
[0973] Extensive testing may be performed during manufacturing to
verify the robustness of various components prior to final
assembly. For example, the shell 1320 and the magnetic ring rotor
913 may be assembled then torque applied to check for slippage of
the magnetic ring rotor 913 relative to the shell 1320 prior to
full assembly. In another example, torque may be applied to the
torque sensor until destruction. In another example, accelerated
life testing may be performed and may include environmental and
performance testing.
[0974] With reference to FIG. 26A, an electrically motorized wheel
testing apparatus 2600 positions a drive wheel 2602 with a number
of "bumps" fixed onto the circumference thereof into driving
contact with the electrically motorized wheel to be tested. The
bumps may be removable or otherwise configurable to represent
various road conditions.
[0975] The electrically motorized wheel to be tested rotates the
drive wheel 2602 and an outer cage 2604 protects personnel. The
electrically motorized wheel may be supplied with external power to
run for extended periods. Alternatively, the drive wheel 2602 may
be powered to drive the electrically motorized wheel. As the drive
wheel 2602 rotates, the electrically motorized wheel is thus
subjected to a "bumpy" road. The electrically motorized wheel
testing apparatus 2600 thus provides a compact extended life test
cell to facilitate testing.
[0976] The ability to alter the amount of assistance or resistance
provided by the electrically motorized wheel together with the
reporting of data therefrom supports the use of electrically
motorized wheel in remote rehabilitation therapies. Rehabilitation
from an injury or recovery from a surgery may involve a progressive
increase in usage time, an increase in resistance weight, and
others for the recovering body part. For example, rehabilitation of
a knee may involve weight training with the weight increasing a
given percentage per week or biking with the distance increasing a
given percentage a week.
[0977] With reference to FIG. 27A, a rehabilitation system 2700 is
disclosed in which a rehabilitation provider may prescribe an
exercise regime for a patient. The prescription may include a
desired a level of exertion, resistance, torque, length of time,
frequency and other factors using a prescription system 2702 on a
computing device accessible to the rehabilitation provider. The
prescription may be communicated via a server 2710 to a
corresponding rehabilitation application 2704 resident on a
patient's mobile device.
[0978] The rehabilitation application 2704 may be utilized to
generate a custom mode such that the control parameters sent to the
patient's electrically motorized wheel 2708 provides the prescribed
assistance and resistance to the user. Alternatively, the
rehabilitation application 2704 may calculate the appropriate
assistance and resistance to effectuate the prescription. The
rehabilitation application 2704 may additionally encourage the
patient to use the electrically motorized wheel for the desired
time and frequency.
[0979] The rehabilitation application 2704, together with the
server 2710, provides compliance data and wheel performance data
such as speed, distance, time, torque, energy used and others, to
the prescription system 2702 where a rehabilitation provider may
review patient compliance relative to the prescription, actual
torque provided by patient, leg to leg non-uniformity of applied
torque, and others. This data may then be used to modify the
patient prescription such as altering the level of assistance and
resistance, altering recommend training time, notifying the patient
of unexpected results, and others.
[0980] In embodiments, the mobile device 1502 may be in
communication with a wearable sensor such as a heart rate monitor
to selectively adjust the operational mode of the wheel in response
thereto. Such selection may be utilized in concert with a training
mode to maintain a desired heart rate or in rehabilitation mode to
assure the user's heart rate does not exceed a predetermined
value.
[0981] In embodiments, the mobile device 1502 can be utilized to
measure a force on the user such as a force applied to a user's
knees via one or more sensors in communication therewith. The
rehabilitation application 2704 may then be utilized to provide
compliance and goal related data during performance of the physical
therapy program. This data may then be used to modify the patient
prescription such as altering the level of assistance and
resistance, so that user may experience optimized levels of
assistance and resistance in essentially real time. A feedback loop
is thus provided to control the level of assistance and resistance
in based on a training or rehabilitation regimen.
[0982] With reference to FIG. 28A, a training system 2800 is
disclosed in which a training application 2802 on a mobile device
2804 is in communication with an electrically motorized wheel 2808.
The training application 2802 permits the user to specify training
goals such as a level of exertion, level of resistance, rate of
Calorie expenditure, maximum heart rate, desired Calorie
expenditure, percent increase over previous performance, fitness
goals (e.g. complete the tour de France).
[0983] The training application 2802 may then convert the specified
goals to a custom set of control parameters to be transmitted to
the electrically motorized wheel and provide the appropriate
assistance and resistance to meet the specified goals. The
electrically motorized wheel may provide performance data such as
levels of assistance and resistance provided, total calories
burned, rate of calories burned, torque applied by the user and
others to the training application 2802 for review by the user or a
trainer.
[0984] Bicycle stands for stationary indoor training may be used
with the electrically motorized wheel, however, when the
electrically motorized wheel provides resistance for the user,
electricity is generated. Such generated electricity may be used to
drive peripheral devices such as a fan, power or charge mobile
devices, and others. The power generated may used to heat the room,
stored to an external battery, or uploaded to the electrical grid.
Alternatively, the power generated may simply be dissipated via a
resistor or other energy conversion device that for example, plugs
into the electrically motorized wheel when operated on a bicycle
stand.
[0985] In embodiments, the bicycle stands for stationary indoor
training may also be particularly tailored to the electrically
motorized wheel to provide power output connections, docking for
accessory devices, peripheral devices, battery charging stations,
etc.
[0986] With respect to FIG. 29A, a fleet management system 2900
includes a plurality of electrically motorized wheels 2902 that may
be in communication with a server 2910 to receive data for
interchange with one or more wheel databases 2912. The data
received may include user data such as user mode selections, user
route selections and annotations, calories burned during current
ride, time riding and others. The plurality of electrically
motorized wheels 2902 may belong to a common owner such as a
delivery service, a multiple of wheel chairs in a hospital, or a
multiple of shopping carts in a store. The data received may also
include operating versions, wheel performance data such as speed
over time, control parameters, available battery life,
accelerations, motor assistance and others. The data received may
also include environmental data such as elevation changes, ambient
temperature, humidity, and others.
[0987] A fleet management module 2904 may utilize the data in the
electrically motorized wheel databases 2912 to facilitate
coordination of a fleet such as assuring that all vehicles in the
fleet have the same software version, have proper battery
conditioning and maintenance performed, coordinating routing based
on wheel location, meta-analysis of fleet data and other
aggregation and correlation of data such that issues with specific
electrically motorized wheels may be readily identified.
[0988] For example, data regarding current location, routes,
available battery life, motor assistance/resistance provided during
current ride, Calories burned during current ride, user's average
ride statistics such as speed, and others might be used to
determine new routings and selection of users for new destinations
being added.
[0989] In another example, data regarding wheel speed over time,
accelerations, motor assistance and resistance provided, wheel
sensor data, temperature data over different routes may be used to
optimize future routes. In yet another example, data such as speed
over time, accelerations motor assistance and resistance, route,
and others may be used as input when evaluating overall user
performance.
[0990] In still another example, the fleet management system 2900
may be utilized to confirm driver activity and metrics to
facilitate payment, improved performance, route coordination,
etc.
[0991] With reference to FIG. 30A, a server 3002 such as
cloud-based server/API may receive user data, wheel performance
data, environmental data, and geographic data, is in communication
with a multiple electrically motorized wheels 3008 to interchange
data. The data may originate with the electrically motorized wheel
3008 via the associated mobile device 3010. The data may then be
transmitted to the server 3002 from each of the electrically
motorized wheels 3008. The data received may include user data such
as user mode selections, user route selections, annotations,
travelled routes, available battery mode over a trip, and
instantaneous battery life at a given location, energy supplied by
the user, time required to travel a route, average speed over
route, and others. The data received may also include wheel
performance data such as speed over time, control parameters,
accelerations, motor assistance and others. The data received may
still further include location of mobile device 3010.
[0992] A computer-based analysis module 3004 may access an
electrically motorized wheel database 3012 and analyze the combined
wheel data from multiple rides reported by an individual wheel to
identify trends in that user's health, fitness level, user
preferences, and other such data. The computer-based analysis
module 3004 may also analyze the combined data from different users
to identify patterns and sense trends in public health and fitness
levels, frequently used routes and others.
[0993] User annotations may alternatively or additionally be used
to rate links in the road network and facilitate identification of
where to locate new bicycle paths. The data regarding the
differences between location where an electrically motorized wheel
stopped and the final location may be used to optimize bicycle
paths and bicycle parking.
[0994] Alternatively or in addition, aggregated data over common
routes may be used for pothole detection, identification of road
conditions/road type, whether a street is closed, average number of
starts and stops on a route, average energy consumed over links in
the road network, elevation gains over links in the road network,
and others. This data may be used to optimize control algorithms
along a particular route or recommend safer routes to a user, as
starts and stops may be indicative of energy consumption and/or
user safety. More frequent starts and stops may increase energy
consumption. Also, starts and stops may be seen as indicative of
intersections and a user's risk of injury typically increases with
each intersection.
[0995] Alternatively or in addition, aggregated data over may be
used to facilitate multi-player games such as geo-caching where the
user visits specified geographic locations. The data collection
system thereby collects data location and time such that users with
access to the computer-based analysis module 3004 can compare
locations visited.
[0996] The methods and systems described herein may be deployed in
part or in whole through a machine that executes computer software,
program codes, and/or instructions on a processor. The processor
may be part of a server, application data server, client, network
infrastructure, mobile computing platform, stationary computing
platform, or other computing platform. A processor may be any kind
of computational or processing device capable of executing program
instructions, codes, binary instructions and others. The processor
may be or include a signal processor, digital processor, embedded
processor, microprocessor or any variant such as a co-processor
(math co-processor, graphic co-processor, communication
co-processor and others) and others that may directly or indirectly
facilitate execution of program code or program instructions stored
thereon. In addition, the processor may enable execution of
multiple programs, threads, and codes. The threads may be executed
simultaneously to enhance the performance of the processor and to
facilitate simultaneous operations of the application. By way of
implementation, methods, program codes, program instructions and
others described herein may be implemented in one or more thread.
The thread may spawn other threads that may have assigned
priorities associated with them; the processor may execute these
threads based on priority or any other order based on instructions
provided in the program code. The processor may include memory that
stores methods, codes, instructions and programs as described
herein and elsewhere. The processor may access a storage medium
through an interface that may store methods, codes, and
instructions as described herein and elsewhere. The storage medium
associated with the processor for storing methods, programs, codes,
program instructions or other type of instructions capable of being
executed by the computing or processing device may include but may
not be limited to one or more of a CD-ROM, DVD, memory, hard disk,
flash drive, RAM, ROM, cache and others.
[0997] A processor may include one or more cores that may enhance
speed and performance of a multiprocessor. In embodiments, the
process may be a dual core processor, quad core processors, other
chip-level multiprocessor and others that combine two or more
independent cores (called a die).
[0998] The methods and systems described herein may be deployed in
part or in whole through a machine that executes computer software
on a server, application data server, client, firewall, gateway,
hub, router, or other such computer and/or networking hardware. The
software program may be associated with a server that may include a
file server, print server, domain server, internet server, intranet
server and other variants such as secondary server, host server,
distributed server and others. The server may include one or more
of memories, processors, computer readable media, storage media,
ports (physical and virtual), communication devices, and interfaces
capable of accessing other servers, clients, machines, and devices
through a wired or a wireless medium, and others. The server, as
described herein and elsewhere may execute the methods, programs,
or codes. In addition, other devices required for execution of
methods as described in this application may be considered as a
part of the infrastructure associated with the server.
[0999] The server may provide an interface to other devices
including, without limitation, clients, other servers, printers,
database servers, print servers, file servers, communication
servers, distributed servers and others. Additionally, this
coupling and/or connection may facilitate remote execution of
program across the network. The networking of some or all of these
devices may facilitate parallel processing of a program or method
at one or more location without deviating from the scope of the
disclosure. In addition, any of the devices attached to the server
through an interface may include at least one storage medium
capable of storing methods, programs, code and/or instructions. A
central repository may provide program instructions to be executed
on different devices. In this implementation, the remote repository
may act as a storage medium for program code, instructions, and
programs.
[1000] The software program may be associated with a client that
may include a file client, print client, domain client, internet
client, intranet client and other variants such as secondary
client, host client, distributed client and others. The client may
include one or more of memories, processors, computer readable
media, storage media, ports (physical and virtual), communication
devices, and interfaces capable of accessing other clients,
servers, machines, and devices through a wired or a wireless
medium, and others. The methods, programs or codes as described
herein and elsewhere may be executed by the client. In addition,
other devices required for execution of methods as described in
this application may be considered as a part of the infrastructure
associated with the client.
[1001] The client may provide an interface to other devices
including, without limitation, servers, other clients, printers,
database servers, print servers, file servers, communication
servers, distributed servers and others. Additionally, this
coupling and/or connection may facilitate remote execution of
program across the network. The networking of some or all of these
devices may facilitate parallel processing of a program or method
at one or more location without deviating from the scope of the
disclosure. In addition, any of the devices attached to the client
through an interface may include at least one storage medium
capable of storing methods, programs, applications, code and/or
instructions. A central repository may provide program instructions
to be executed on different devices. In this implementation, the
remote repository may act as a storage medium for program code,
instructions, and programs.
[1002] The methods and systems described herein may be deployed in
part or in whole through network infrastructures. The network
infrastructure may include elements such as computing devices,
servers, routers, hubs, firewalls, clients, personal computers,
communication devices, routing devices and other active and passive
devices, modules and/or components as known in the art. The
computing and/or non-computing device(s) associated with the
network infrastructure may include, apart from other components, a
storage medium such as flash memory, buffer, stack, RAM, ROM and
others. The processes, methods, program codes, instructions
described herein and elsewhere may be executed by one or more of
the network infrastructural elements.
[1003] The methods, program codes, and instructions described
herein and elsewhere may be implemented on a cellular network
having multiple cells. The cellular network may either be frequency
division multiple access (FDMA) network or code division multiple
access (CDMA) network. The cellular network may include mobile
devices, cell sites, base stations, repeaters, antennas, towers,
and others. The cell network may be a GSM, GPRS, 3G, EVDO, mesh, or
other networks types.
[1004] The methods, programs codes, and instructions described
herein and elsewhere may be implemented on or through mobile
devices. The mobile devices may include navigation devices, cell
mobile devices, mobile devices, mobile personal digital assistants,
laptops, palmtops, netbooks, pagers, electronic books readers,
music players and others. These devices may include, apart from
other components, a storage medium such as a flash memory, buffer,
RAM, ROM and one or more computing devices. The computing devices
associated with mobile devices may be enabled to execute program
codes, methods, and instructions stored thereon. Alternatively, the
mobile devices may be configured to execute instructions in
collaboration with other devices. The mobile devices may
communicate with base stations interfaced with servers and
configured to execute program codes. The mobile devices may
communicate on a peer-to-peer network, mesh network, or other
communications network. The program code may be stored on the
storage medium associated with the server and executed by a
computing device embedded within the server. The base station may
include a computing device and a storage medium. The storage device
may store program codes and instructions executed by the computing
devices associated with the base station.
[1005] The computer software, program codes, and/or instructions
may be stored and/or accessed on machine readable media that may
include: computer components, devices, and recording media that
retain digital data used for computing for some interval of time;
semiconductor storage known as random access memory (RAM); mass
storage typically for more permanent storage, such as optical
discs, forms of magnetic storage like hard disks, tapes, drums,
cards and other types; processor registers, cache memory, volatile
memory, non-volatile memory; optical storage such as CD, DVD;
removable media such as flash memory (e.g. USB sticks or keys),
floppy disks, magnetic tape, paper tape, punch cards, standalone
RAM disks, Zip drives, removable mass storage, off-line, and
others; other computer memory such as dynamic memory, static
memory, read/write storage, mutable storage, read only, random
access, sequential access, location addressable, file addressable,
content addressable, network attached storage, storage area
network, bar codes, magnetic ink, and others.
[1006] The methods and systems described herein may transform
physical and/or or intangible items from one state to another. The
methods and systems described herein may also transform data
representing physical and/or intangible items from one state to
another, such as from usage data to a normalized usage dataset.
[1007] The elements described and depicted herein, including in
flow charts and block diagrams throughout the figures, imply
logical boundaries between the elements. However, according to
software or hardware engineering practices, the depicted elements
and the functions thereof may be implemented on machines through
computer executable media having a processor capable of executing
program instructions stored thereon as a monolithic software
structure, as standalone software modules, or as modules that
employ external routines, code, services, and so forth, or any
combination of these, and all such implementations may be within
the scope of the present disclosure. Examples of such machines may
include, but may not be limited to, personal digital assistants,
laptops, personal computers, mobile devices, other handheld
computing devices, medical equipment, wired or wireless
communication devices, transducers, chips, calculators, satellites,
tablet PCs, electronic books, gadgets, electronic devices, devices
having artificial intelligence, computing devices, networking
equipment, servers, routers and others. Furthermore, the elements
depicted in the flow chart and block diagrams or any other logical
component may be implemented on a machine capable of executing
program instructions. Thus, while the foregoing drawings and
descriptions set forth functional aspects of the disclosed systems,
no particular arrangement of software for implementing these
functional aspects should be inferred from these descriptions
unless explicitly stated or otherwise clear from the context.
Similarly, it will be understood that the various steps identified
and described above may be varied, and that the order of steps may
be operable to particular applications of the techniques disclosed
herein. All such variations and modifications are intended to fall
within the scope of this disclosure. As such, the depiction and/or
description of an order for various steps should not be understood
to require a particular order of execution for those steps, unless
required by a particular application, or explicitly stated or
otherwise clear from the context.
[1008] The methods and/or processes described above, and steps
thereof, may be realized in hardware, software or any combination
of hardware and software suitable for a particular application. The
hardware may include a general purpose computer and/or dedicated
computing device or specific computing device or particular aspect
or component of a specific computing device. The processes may be
realized in one or more microprocessors, microcontroller systems,
embedded microcontroller systems, programmable digital signal
processors or other programmable device, along with internal and/or
external memory. The processes may also, or instead, be embodied in
an application specific integrated circuit, a programmable gate
array, programmable array logic, or any other device or combination
of devices that may be configured to process electronic signals. It
will further be understood that one or more of the processes may be
realized as a computer executable code capable of being executed on
a machine-readable medium.
[1009] The computer executable code may be created using a
structured programming language such as C, an object oriented
programming language such as C++, or any other high-level or
low-level programming language (including assembly languages,
hardware description languages, and database programming languages
and technologies) that may be stored, compiled or interpreted to
run on one of the above devices, as well as heterogeneous
combinations of processors, processor architectures, or
combinations of different hardware and software, or any other
machine capable of executing program instructions.
[1010] Thus, in one aspect, each method described above and
combinations thereof may be embodied in computer executable code
that, when executing on one or more computing devices, performs the
steps thereof. In another aspect, the methods may be embodied in
systems that perform the steps thereof, and may be distributed
across devices in a number of ways, or all of the functionality may
be integrated into a dedicated, standalone device or other
hardware. In another aspect, the means for performing the steps
associated with the processes described above may include any of
the hardware and/or software described above. All such permutations
and combinations are intended to fall within the scope of the
present disclosure.
[1011] While the disclosure has been disclosed in connection with
the other embodiments shown and described in detail, various
modifications and improvements thereon will become readily apparent
to those skilled in the art. Accordingly, the spirit and scope of
the present disclosure is not to be limited by the foregoing
examples, but is to be understood in the broadest sense allowable
by law.
[1012] All documents referenced herein are hereby incorporated by
reference.
[1013] It should be understood that relative positional terms such
as "forward," "aft," "upper," "lower," "above," "below," "bottom",
"top", and others are with reference to the normal operational
attitude and should not be considered otherwise limiting.
[1014] It should be understood that like reference numerals
identify corresponding or similar elements throughout the several
drawings. It should also be understood that although a particular
component arrangement is disclosed in the illustrated embodiment,
other arrangements will benefit herefrom.
[1015] Although the different embodiments have specific illustrated
components, the embodiments of this disclosure are not limited to
those particular combinations. It is possible to use some of the
components or features from any of the embodiments in combination
with features or components from any of the other embodiments.
[1016] Although particular step sequences are shown, described, and
claimed, it should be understood that steps may be performed in any
order, separated or combined unless otherwise indicated and will
still benefit from the present disclosure.
[1017] The foregoing description is exemplary rather than defined
by the limitations within. Various embodiments are disclosed
herein, however, one of ordinary skill in the art would recognize
that various modifications and variations in light of the above
teachings will fall within the scope of the appended claims. It is
therefore to be understood that within the scope of the appended
claims, the disclosure may be practiced other than as specifically
described. For that reason the appended claims should be studied to
determine true scope and content.
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